Hybrid Position/Force Controller Applied to Exoskeleton

摘要

Exoskeleton robots was designed to be worn on the lateral side of an upper extremity and is able to assist arm movements The approach hybrid force-position for controlling compliant motions of exoskeleton is presented in hybrid technique described combines force with positional data to satisfy simultaneous position and force trajectory, Some simulations are presented that verify the performance of the controller for different situations.