Control of Soft Wearable Robots for Elbow Assistance and Rehabilitation: A Simplified Solution Using Disturbance Observer and Nonsmooth Feedback

Control of Soft Wearable Robots for Elbow Assistance and Rehabilitation: A Simplified Solution Using Disturbance Observer and Nonsmooth Feedback

Soft wearable robots present a promising approach for elbow assistance and rehabilitation. However, most existing devices rely on open-loop control strategies, which renders individual customization cumbersome and incapable of adapting to dynamic interactions. The challenges in implementing closed-l...

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Bibliographic Details
Main Authors: Jiajin Wang, Baoguo Xu, Xin Wang, Jianwei Lai, Xiangshan Wei, Zishuo Zhao, Ye Lu, Ying Shen, Hongxing Wang, Aiguo Song
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Transactions on Neural Systems and Rehabilitation Engineering
Subjects:
Wearable robotics
rehabilitation robotics
soft robotics
disturbance observer
composite controller
Online Access:https://ieeexplore.ieee.org/document/11106485/
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