Research Article

Adaptive Fractional Control Optimized by Genetic Algorithms with Application to Polyarticulated Robotic Systems

Table 1

Summary of the dynamic parameters of the lower limb exoskeleton.

ParametersValues

Mass of the exoskeleton1 kg
Mean value of thigh length of the human limb0.282 m
Mean value of shank length of the human limb0.282 m
Mean value of thigh mass of the human limb1.082 kg
Mean value of shank mass of the human limb3.535 kg
Exoskeleton inertia kg
Thigh inertia of human limb kg
Shank inertia of human limb kg