5 accepted papers
Exoskeleton robots hold great potential for both industrial applications and assisting patients with locomotor disabilities. Among them, flexible exoskeletons, known as “exosuits”, have attracted a great deal of interest from researchers. Those are usually made up of flexible components such as cabl
In this letter, a cascaded loop force control is implemented on a robot while considering the flexibility of the force sensor connecting the end effector to the tool. A classical frequency approach using a bandwidth and a phase margin is used to tune this controller. The aim is to find an equivalenc
The linear inverted pendulum model is often used to study walking gaits, but the transition from one step to the following step is often neglected, whereas it is really important for the walking stability. This letter studies different landing positions of the swing foot, and different conditions to
Actual control of most humanoid robots is based on the 3D linear inverted pendulum and assumes an horizontal displacement of the center of mass of the robot while obviously the center of mass in human walking is characterized by vertical oscillations. The objective of the paper is to show that these…