What is it about?
Comparison of two different control approaches to improve the performance of exoskeletons. The force sensor-based approach reduces unwanted torques mean by 79% compared to the model-based control approach.
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Why is it important?
We define criterions to evaluate the performance of exoskeletons more objectively. We show methological strengths and weaknesses of the two widely used control approaches to improve performance of exoskeletons.
Perspectives
I hope this article shows that force sensor-based approaches are superior to model-based control approaches of complex-devices , mainly because of the error proneness of complex models.
MSECE, M.Sc. Fabian Just
ETH Zürich
Read the Original
This page is a summary of: Exoskeleton transparency: feed-forward compensation vs. disturbance observer, at - Automatisierungstechnik, December 2018, De Gruyter,
DOI: 10.1515/auto-2018-0069.
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