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

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Motor no.</td><td class="align_center">Errors/RMSE (rad)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">3</td><td class="align_center">2.87<i>e</i> − 05</td></tr><tr><td class="align_left">4</td><td class="align_center">2.87<i>e</i> − 05</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Root-mean-squared error of position tracking.</div>

Mathematical Problems in Engineering

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Table 1

Table 1: A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 

Table 1 | A Simplified Inverse Dynamics Modelling Method for a Novel Rehabilitation Exoskeleton with Parallel Joints and Its Application to Trajectory Tracking 