PID Control with Intelligent Compensation for Exoskeleton Robots

Index

A

Abduction–adduction, 196, 197

Actuators, 90, 91, 170, 202

Adaptive methods, 6

Admittance, 3, 9

Admittance model, 139, 140, 150, 156, 160, 170

AMP, 200

Amplitude, 129, 137

Arbitration on message priority, see AMP

Arm, 51, 142, 195, 196

human, 2, 10, 43, 101, 102, 141, 142, 195–197, 202

lower, 10, 196

upper, 10, 196, 200

Articulations, 195

Asymptotic stability, 5, 7, 8, 13, 77, 84, 92, 99, 125, 127, 146, 147

global, 7, 96, 107

semiglobal, 13, 17, 33, 41, 44, 81, 90, 96, 106, 107, 139, 158

B

Backpropagation, 5, 104, 106

Baum–Welch algorithm, 184, 185

Boundary layer system, 59, 60

C

CAN, 49, 200, 201

Candidate, 

Lyapunov function, 16, 66, 126, 127, 130

Carrier sense multiple access, see CSMA

CD, 200

Center, 30, 70, 79, 176, 177

Centripetal,  ...