Rehabilitation Robotics Kinematics, Dynamics, and Control Techniques /
Rehabilitation robotics is an important field of study focused on improving the gait rehabilitation of people affected by neurological disorders, ictus, cerebral palsy, and spinal cord injuries, among others. The study of rehabilitation robotics includes medical activities, kinematics dynamics, and...
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| 主要な著者: | , |
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| 団体著者: | |
| フォーマット: | 電子媒体 eBook |
| 言語: | 英語 |
| 出版事項: |
Cham :
Springer Nature Switzerland : Imprint: Springer,
2025.
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| 版: | 1st ed. 2025. |
| 主題: | |
| オンライン･アクセス: | https://doi.org/10.1007/978-3-031-83655-8 |
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目次:
- Introduction
- Fundamentals of Exoskeleton Robots for Rehabilitation
- Mathematical Tools for Exoskeleton Robots.-Kinematics Analysis of Exoskeleton Robots
- Geometrical Approach
- Denavit & Hartenberg Method
- Successive Screw Method
- Dynamics Analysis of Exoskeleton Robots
- Newton-Euler Formulation
- Lagrange-Euler Approach
- Dalembert General Formulation
- Dynamic Solution Based on Dynamic Simulation.-Control Techniques for Exoskeleton Robots
- Robust Control Strategies
- Robust Control Lyapunov Functions
- Impedance Control
- Adaptive Control
- Uncertainties Found in Dynamic Systems.