@inproceedings{6ab73ea60cc94a32a80bab14e59a8b07,
title = "Non-linear model-based Control for the Human-inspired Robotic Exoskeleton (HuREx) gait trainer",
abstract = "A non-linear model-based control system for the Human inspired Robotic Exoskeleton (HuREx) gait trainer was developed. The model used for the controller was derived using a hybrid PMA model and dynamic model of the device. The performance of the control system was compared against a closed-loop PID control system in simulation. The trajectory tracking results show that the model-based control system improved the speed and accuracy of the system as well as being robust against modeling errors and disturbances.",
keywords = "Gait, Impedance control, Model-based control, Modelling, Nonlinear control, Rehabilitation, Robotics, Simulation",
author = "Kazuto Kora and Andrew McDaid and Sheng Xie",
note = "Publisher Copyright: {\textcopyright} IFAC.; 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 ; Conference date: 24-08-2014 Through 29-08-2014",
year = "2014",
language = "英语",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
pages = "11830--11835",
editor = "Xiaohua Xia and Edward Boje",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
}