Abstract—Exoskeleton robots was designed to be worn on the lateral side of an upper extremity and is able to assist arm movements The approach hybrid force-position for controlling compliant motions of exoskeleton is presented in hybrid technique described combines force with positional data to satisfy simultaneous position and force trajectory, Some simulations are presented that verify the performance of the controller for different situations.
Index Terms—Hybrid position/force control, exoskeleton robot, nonlinear system.
Z. Achour is with the Centre for the Development of Advanced Technologies, Cité 20 août 1956, BP. N° 17, Baba Hassen 16303, Algiers, Algeria (tel: +213 21 35 10 18, e-mail: zachour@cdta.dz).
M. Hamerlain is with the Centre for the Development of Advanced Technologies, Cité 20 août 1956, BP. N° 17, Baba Hassen 16303, Algiers, Algeria (e-mail: mhamerlain@cdta.dz).
[PDF]
Cite: Z. Achour and M. Hamerlain, "Hybrid Position/Force Controller Applied to Exoskeleton," International Journal of Materials, Mechanics and Manufacturing vol. 7, no. 1, pp. 42-45, 2019.
![[Click]](http://www.ijmmm.org/img/ijmmm_v7n2_inspec%28IET%29_indexscreenshot.jpg){kind=link}