Optimal predictive impedance control in the presence of uncertainty for a lower limb rehabilitation robot

DOI10.1007/S11424-020-8335-5zbMath1455.93129OpenAlexW3030085166MaRDI QIDQ2220407

Mohsen Jalaeian-F., Morteza Rahimiyan, Mohammad Mehdi Fateh

Publication date: 22 January 2021

Published in: Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11424-020-8335-5

zbMATH Keywords

impedance controllower limb rehabilitation robotsmodel predictive compensatoroptimal predictive impedance controlleroptimization in presence of uncertainty

Mathematics Subject Classification ID

Convex programming (90C25) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Iterative learning impedance control for rehabilitation robots driven by series elastic actuators

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