2017
Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton
RA-L 2017
In recent years soft wearable exoskeletons, commonly referred to as exosuits, have been widely exploited in human assistance. Hence, a shared approach for a systematic and exhaustive control architecture is extremely important. Most of the exosuits developed so far employ a bowden cable transmission