Aug 2026· 2026 IEEE International Conference on Mechatronics and Automation (ICMA)· pp. 1015-1020· 0 citations· 20 references
Abstract
Home-based rehabilitation exoskeletons often suffer from control instability due to low-cost force sensors. This paper presents a robust, sensorless Composite Variable Impedance Control architecture that separates trajectory tracking (virtual stiffness K) from active assistance (adaptive feedforward torque τassist). By eliminating high-frequency force feedback, the system ensures intrinsic stability. Experiments on the CURE platform demonstrate independent modulation of compliance (RMSE 2.64° to 15.90°) and effective assistance during simulated weakness, reducing tracking RMSE from 13.77° to 3.12°. Results show τassist contributes 59.6% of total torque, enabling "High-Assistance, High-Compliance" interaction without reactive stiffening. This provides a stable execution layer for advanced, bio-signal-driven "Assist-as-Needed" (AAN) therapies.
This letter proposes a model-based vibration attenuation method for variable-impedance control of a 1-degree-of-freedom active-passive upper-limb exoskeleton. Static and dynamic human efforts are compensated separately, the variable-impedance profile follows a standard law, and the attenuator is derived from identified...
Yun-Tian Wang, J. Mcphee· IEEE Robotics and Automation...· 0 citations
To address the coupling between ambiguous sEMG-based intention recognition and mechanical safety constraints in cable-driven lower-limb rehabilitation, this study proposes a multimodal perception-based adaptive admittance control framework. Mechanical, interaction, and physiological indicators, including stiffness, end...
Yanzhuo Wang, Keyi Wang, Lan Wang et al.· 2026 IEEE International Conf...· 0 citations
This study proposes a composite control framework for upper-limb rehabilitation exoskeletons integrating fractional-order impedance control, computed-torque compensation, and a momentum-based nonlinear disturbance observer that enhances compliant yielding and tracking robustness under non-ideal dynamics.
Chun Liu, Xin-Rong Liu, Yuhang Xue· Computer Methods in Biomecha...· 0 citations
A Two-Degree-of-Freedom lower-limb exoskeleton for rehabilitation applications that combines trajectory tracking control with a force-feedback control system to improve human–exoskeleton interaction during rehabilitation movements is developed.
Khin Yadana Kyaw, D. Maneetham, Myo Min Aung· Engineering, Technology &...· 0 citations
Lower-limb rehabilitation exoskeletons require adaptive control strategies to accommodate patient-specific biomechanics and ensure safe and effective Human-Exoskeleton Interaction (HEI). Impedance control is widely adopted for this purpose; however, selecting appropriate impedance parameters remains challenging due to...
N. A. Marafa, R. Terreros, M. Moreira et al.· International Conference on...· 0 citations
In response to the requirements for high-precision motion control and adaptive compliance in rehabilitation training and human-robot interaction scenarios, this paper proposes a hierarchical control strategy for a dual-motor-driven variable stiffness actuator (VSA), enabling coordinated control of position tracking and...
Jin-Liang Liu, Xiu-Long Wu, Yiqing Zheng et al.· International Conference on...· 0 citations
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