Adaptive compensation for time-varying uncertainties in model-based control of lower-limb exoskeleton systems  

作　　者：Guangkui SONG Rui HUANG Hong CHENG Jing QIU Shuai FAN 

机构地区：[1]Center for Robotics,University of Electronic Science and Technology of China,Chengdu 611731,China [2]School of Mechanical and Electrical Engineering,University of Electronic Science an,d Technology of China,Chengdu 611731,China

出　　处：《Science China(Information Sciences)》2021年第11期233-235,共3页中国科学（信息科学）（英文版）

基　　金：supported by National Key Research and Development Program of China(Grant No.2017YFB1302300);National Natural Science Foundation of China(Grant Nos.6150020696,61503060);Sichuan Science and Technology Major Projects of New Generation Artificial Intelligence(Grant No.2018GZDZX0037);Fundamental Research Funds for the Central Universities(Grant No.ZYGX2015J148)。

摘　　要：Dear editor,Exoskeletons are widely used in human locomotion assistance and strength augmentation to enhance strength and endurance, wherein strategies based on model-based control are extremely sensitive to errors in the dynamic models. Additionally, the unpredictable human-exoskeleton interaction force can unbalance the pilot. Therefore, learning methods were utilized to improve the accuracy of the dynamic model [1, 2]. The modeling of dynamic model was decoupled based on the direction of interest [3].

关 键 词：EDITOR SKELETON utilized 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]