Search

Our systems are now restored following recent technical disruption, and we’re working hard to catch up on publishing. We apologise for the inconvenience caused. Find out more: https://www.cambridge.org/universitypress/about-us/news-and-blogs/cambridge-university-press-publishing-update-following-technical-disruption

Skip to main content Accessibility help

Home
Search

Only show content I have access to (1)

Articles (1)

Last 3 years (1)

From year:

To year:

Apply

Computer Science (1)

pneumatic artificial muscle (pam)

Robotica (1)

View selected items
Save to my bookmarks
Export citations
Download PDF (zip)
Save to Kindle
Save to Dropbox
Save to Google Drive
Save content to
To save content items to your account, please confirm that you agree to abide by our usage policies. If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account. Find out more about saving content to .

To save content items to your Kindle, first ensure coreplatform@cambridge.org is added to your Approved Personal Document E-mail List under your Personal Document Settings on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part of your Kindle email address below. Find out more about saving to your Kindle.

Note you can select to save to either the @free.kindle.com or @kindle.com variations. ‘@free.kindle.com’ emails are free but can only be saved to your device when it is connected to wi-fi. ‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.

Find out more about the Kindle Personal Document Service.

Please be advised that item(s) you selected are not available.
You are about to save
Your Kindle email address

Please provide your Kindle email.

@free.kindle.com @kindle.com (service fees apply)

By using this service, you agree that you will only keep content for personal use, and will not openly distribute them via Dropbox, Google Drive or other file sharing services

1 results

Design and single-parameter adaptive fuzzy control of pneumatic lower limb exoskeleton with full state constraints
Cheng Chen, Jian Huang, Xikai Tu
Journal:

Robotica / Volume 41 / Issue 3 / March 2023

Published online by Cambridge University Press:

30 August 2022, pp. 995-1014
- Article
- - You have access
- PDF
- HTML
- Export citation
With the excellent characteristic of intrinsic compliance, pneumatic artificial muscle can improve the interaction comfort of wearable robotic devices. This paper resolves the safety tracking control problem of a pneumatically actuated lower limb exoskeleton system. A single-parameter adaptive fuzzy control strategy is proposed with high control precision and full state constraints for the safe gait training tasks. Based on the barrier Lyapunov function, all signals in the closed-loop system can be bounded in finite time, which guarantees the deviation of the exoskeleton’s moving trajectory within a bounded range. Furthermore, with the proposed single-parameter adaptive law, the computational burden and the complexity of the control are reduced significantly. Finally, numerical simulations, no-load tracking experiments, and passive and active gait training experiments with healthy subjects validate the effectiveness of the proposed method.

Search Results

Refine search

Refine search

Actions for selected content:

1 results

Design and single-parameter adaptive fuzzy control of pneumatic lower limb exoskeleton with full state constraints

Search Results

Refine search

Refine search

Actions for selected content:

Save Search

1 results

Design and single-parameter adaptive fuzzy control of pneumatic lower limb exoskeleton with full state constraints