Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics - Brahmi, Brahim; Saad, Maarouf; Rahman, Mohammad H.; Ochoa-Luna, Cristobal (IEEE transactions on systems, man, and cybernetics. Systems, 2019)
Keywords: Backstepping controller; Control systems design; Degrees of freedom; Elbow; exoskeleton robots; Exoskeletons; Human motion; Inverse kinematics; Kinematics; Lyapunov function; Medical treatment; Nonlinear control; Rehabilitation; robotic rehabilitation; Robots; Robust control; Shoulder; Test procedures; Therapy; Trajectories; Wrist