Preliminaries
Abstract
In this chapter, some background information about how to combine the traditional PD/PID control techniques with the intelligent methods and how to apply them to the upper limb exoskeleton robots, are proposed.
Keywords
Exoskeleton robot; Proportional-integral-derivative; Human–machine integration; Intelligent compensation
1.1 Exoskeleton robots
Throughout the last three decades, several designs of exoskeletons for human power amplification have been developed and evaluated, such as Honda Exoskeleton Legs [46], Berkeley Lower Extremity Exoskeleton [69], Hybrid Assistive Limb [47], and the MIT Exoskeleton [33]. The first exoskeleton generation was developed based on the mission profile of the US Department ...
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