The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies to facilitate the desired motion are outlined. A control system based on a modified Jacobian transpose is proposed, and its performance is evaluated in a series of numerical experiments. The simulations proved that the proposed control method can be successfully used to provide stable sit-to-stand motion from a chair.
CITATION STYLE
Jatsun, S., Savin, S., Yatsun, A., & Gaponov, I. (2017). Study on a two-staged control of a lower-limb exoskeleton performing standing-up motion from a chair. In Advances in Intelligent Systems and Computing (Vol. 447, pp. 113–122). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_10
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