accelerationsFigure 4.10. Maximum jerkFigure 4.11. Maximum motion timeFigure 4.12. CPU timeFigure 4.13. Mean and standard deviation of the objective function after converg...Figure 4.14. Maximum velocityFigure 4.15. Maximum accelerationFigure 4.16. Maximum jerkFigure 4.17. Maximum timeFigure 4.18. Angular position with cubic splinesFigure 4.19. Angular velocity with cubic splinesFigure 4.20. Angular acceleration with cubic splinesFigure 4.21. Angular position for five nodesFigure 4.22. Angular velocity for five nodesFigure 4.23. Angular acceleration for five nodes5 Chapter 5Figure 5.1. Lower limb exoskeletonFigure 5.2. Proposed controllerOrganigram 1. Standard PSO controlOrganigram 2. The proposed modified PSO-based controlFigure 5.3. Experimental environment [DAA 15, MAD 14]Figure 5.4. The mechanical structure of the EICoSI [MAD 14, DAA 15, RIF 12]Figure 5.5. Position trajectory tracking for individual 1. For a color version o...Figure 5.6. Position trajectory tracking for individual 2. For a color version o...Figure 5.7. Position trajectory tracking for individual 3. For a color version o...Figure 5.8. RMS of position trajectory tracking errors. For a color version of t...Figure 5.9. Control inputs for the three individuals 1, 2 and 3. For a color ver...Figure 5.10. Evolution of the adaptive PID parameters. For a color version of th...
Guide
1 Cover
2 Table of Contents
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