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.