2022
DOI: 10.23947/2687-1653-2022-22-3-204-213
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Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Abstract: Introduction. The problem of controlling the lower-extremity powered exoskeleton motion was investigated. To solve it, it was proposed to use a program control and feedback control. The formation of control in the form of feedback required an assessment of the state of the exoskeleton (rotation angles, angular velocities, and accelerations of the links). The possibility of using an inertial measuring unit to estimate angular velocities and accelerations of exoskeleton links was considered. The work objective w… Show more

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