Command Filter Backstepping Sliding Model Control for Lower-Limb Exoskeleton

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control schem...

Lower-Limb Wearable Exoskeleton

There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...

Carrying Lower Extreme Exoskeleton Rapid Terminal Sliding-Mode Robust Control

For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...

Control of lower limb exoskeleton with simulated EMG signal

Customizable Rehabilitation Lower Limb Exoskeleton System

Disabled people require assistance with the motion of their lower limbs to improve rehabilitation. Exoskeletons used for lower limb rehabilitation are highly priced and are not affordable to the lowerincome sector of the population. This paper describes an exoskeleton lower limb system that was designed keeping in mind that the cost must be as low as possible. ...