Abstract
Joint stiffness of the exoskeleton robot is one of the most important factors to support bipedal walking. In this paper, we discuss the robot joint stiffness tuning algorithm using the bio-mimetic learning method called tacit learning. We experimentally showed that the proposed controller can tune the joint stiffness of the exoskeleton robot by tuning the integral gain in the controller. The walking experiment wearing the exoskeleton robot suggest that the stiffness tuning is applicable to control the walking speed.
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© 2015 Springer International Publishing Switzerland
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Shimoda, S. et al. (2015). Joint Stiffness Tuning of Exoskeleton Robot H2 by Tacit Learning. In: Blankertz, B., Jacucci, G., Gamberini, L., Spagnolli, A., Freeman, J. (eds) Symbiotic Interaction. Symbiotic 2015. Lecture Notes in Computer Science(), vol 9359. Springer, Cham. https://doi.org/10.1007/978-3-319-24917-9_15
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DOI: https://doi.org/10.1007/978-3-319-24917-9_15
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