Improving Low-Level Control of the Exoskeleton Atalante in Single Support by Compensating Joint Flexibility
Matthieu Vigne,Antonio El Khoury,Florent Di Meglio,Nicolas Petit,Matthieu Vigne,Antonio El Khoury,Florent Di Meglio,Nicolas Petit
This paper describes a novel low-level controller for the lower-limb exoskeleton Atalante. The controller implemented on the commercialized product Atalante works under the assumption of full rigidity, performing position control through decentralized joint PIDs. However, this controller is unable to tackle the presence of flexibilities in the system, which cause static errors and undesired oscill...
