Research Article

A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking

Figure 3

The controller based on joint angle decoupling and conversion algorithm. , , and represent the position, velocity, and acceleration of the desired motor trajectory of the exoskeleton. , , and represent the position, velocity, and acceleration of the desired joint trajectory of the exoskeleton. and are the diagonal positive-definite control gain matrices.