Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton - Binh Khanh Dinh; Xiloyannis, Michele; Antuvan, Chris Wilson; Cappello, Leonardo; Masia, Lorenzo (IEEE robotics and automation letters, 2017)
Keywords: Actuators; Computer architecture; Elbow; Electromyography; Exoskeletons; physically assistive devices; Prosthetics and exoskeletons; Robots; robust/adaptive control of robotic systems; Torque