English(EN) Impedance MPC with Patient-Torque Estimation for Knee Rehabilitation Exoskeletons

新的阻抗MPC框架增强膝关节康复外骨骼

作者 PulseAugur 编辑部 · [1 个来源] · 2026-06-11 15:35

研究人员为膝关节康复外骨骼开发了一种新的阻抗模型预测控制（MPC）框架。该系统利用卡尔曼扰动状态和直接力矩传感来估计患者的努力程度，从而在保持安全性和依从性的同时实现精确的轨迹执行。与经典阻抗控制器相比，该框架表现出更优越的性能，实现了显著更低的稳态偏移，并满足了康复的临床标准。 AI

排序理由该集群包含一篇详细介绍外骨骼新控制框架的研究论文。[lever_c_demoted from research: ic=1 ai=0.4]

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arXiv cs.NE (Neural & Evolutionary) TIER_1 English(EN) · Jinshan Tang · 2026-06-11 15:35

带患者扭矩估计的阻抗MPC用于膝关节康复外骨骼

Knee rehabilitation exoskeletons must enforce a prescribed joint trajectory while remaining safely compliant with involuntary spasm and voluntary patient effort-objectives in tension for any fixed-gain impedance controller. We present an Impedance Model Predictive Control framewo…