'41 UDC việ n trư ờn g 10), h T= yề nt m hu to àn ộc vă t n v rườ ui ng C lò ng ao liê đẳ n h ng ệ p Cơ hị ng ng Th D ị ươ ch ng vụ Tp th HC ôn gt M in -T hư Robot Learning and Supervisory Control of a Human-Powered Augmentation Lower Exoskeleton (HUALEX) TRAN HUU TOAN (11T-4.41Z, ) 1* jZ 15 gffs ELI ifft-IA*1= ( 1I-11± eP \11/ qu Te.:1,1 EI Để xe Bả n H 1117-1RJ A P-1, -1-43YkLA UDC)) Eti -f 1ST f`J- ) ft '1173"43 71)c- ROBOT LEARNING AND SUPERVISORY CONTROL OF A HUMAN-POWERED AUGMENTATION yề nt m hu to àn ộc vă t n v rườ ui ng C lò ng ao liê đẳ n h ng ệ p Cơ hị ng ng Th D ị ươ ch ng vụ Tp th HC ôn gt M in -T hư việ n trư ờn g LOWER EXOSKELETON (HUALEX) A Doctoral Dissertation Submitted to Major: Electronic Science and Technology Author: Tran Huu Toan Để xe Bả n qu University of Electronic Science and Technology of China Advisor: School : Professor Cheng Hong School of Automation *Ar-i•kPfi-T Zntifc_At*At±-WIA-UT344in4JFYstii - ờn trư Ttt.1=1,4-thAER-tiA/A'411- nwlimu., -L1/02* việ n h*, g fFalfRf4R4RE9-MT MVMH, Rflc_11:41-?31.1M1=WifriRiAtnith yề nt m hu to àn ộc vă t n v rườ ui ng C lò ng ao liê đẳ n h ng ệ p Cơ hị ng ng Th D ị ươ ch ng vụ Tp th HC ôn gt M in -T hư ts) 140 — 1TP rh T TrAft: Fin]: 201 F 03A 30 H *-1-4S-LikScfrt5t4-714 Tf4RA*A XNM A *MTjIA111*-AX-A3r19-14nfzig3see_ii6cMkrPiftfriEt, AAjaidEltaffitt, II=AffltFP Để xe Bả n qu qffifg#, UN4.4-1PLikk (AWAIff-v.'-V6cAfriMoitz1V f-f-LAI) r 11- L :14i A rri flP A L 10.1 Id V IP fli.Y g 7-1KSctl-A - 1W.0:01-A-M.1)1M A E"):-,:13ji4-,_,7.ifi II ờn i'J5 trư r(E*30i TOM r-11 4.4-911k f**9-fh'i'17.VJ T '91' It 1) L f15 A 111‘i "tif T • MA!JIJ lJ ft.110.7.1131,1c'A , V± Pi ( Fuzzy-based Impedance yề nt m hu to àn ộc vă t n v rườ ui ng C lò ng ao liê đẳ n h ng ệ p Cơ hị ng ng Th D ị ươ ch ng vụ Tp th HC ôn gt M in -T hư I) việ n Ve: ijNL 44-it 1-±I Control strategy, FV IC ; 2) h j " 12_.< - RIK ( Model-Learn i ng- based M Partitioned Control strategy, M L PC ) 71K•Vi?, Ei-i Ifj IttjA,IV-iilelk:NAY12.1,'J.J11=f- l'fM A ±6, 0.1111.13Z11' t-rt)537:Fil IA kit lYjIJJt, ,N-gklEffcrellillj- ,t72:'31 IMaisi,if.fi M 1:1:112:)] - A 11 L F [VC rrim,131.wflYL-N: A tk IV] I'd ftt-,1.• ffii.1 LE ft g F I VC 911.I 11