Shank-foot trajectory control: A forward dynamics approach using computed-torque control

@article{Ajayi2014ShankfootTC,
  title={Shank-foot trajectory control: A forward dynamics approach using computed-torque control},
  author={Michael Oluwatosin Ajayi and Karim Djouani and Yskandar Hamam},
  journal={2014 IEEE-RAS International Conference on Humanoid Robots},
  year={2014},
  pages={652-657}
}
This paper presents an approach to shank-foot trajectory control using computed-torque control method. The aim is to provide rehabilitative measures to help patients with lower limb disorders improve their mobility performance. This measure is achieved by designing a desired trajectory to be followed by the shank-foot model for the rehabilitative purpose… CONTINUE READING