Design and Control of the Rehab-Exos, a Joint Torque-Controlled Upper Limb Exoskeleton - Chiaradia, Domenico; Rinaldi, Gianluca; Solazzi, Massimiliano; Vertechy, Rocco; Frisoli, Antonio (Robotics (Basel), 2024)
Keywords: Actuators; Axial stress; Compliance; Control systems; Control systems design; Controllers; Design; Design and construction; elastic joint; Exoskeletons; Feedback; Feedback control; full-state feedback control; Implants, Artificial; joint torque sensor; Nonlinear dynamics; Nonlinear systems; physical human–robot interaction; Prosthesis; Rehabilitation; Robotics; Robots; Self-help devices for the disabled; Sensors; State feedback; Strain gauges; System dynamics; Technology application; Torquemeters; transparency; upper limb exoskeleton; Italy