6 accepted papers
Despite the increased use of lower limb exoskeletons as gait training and mobility assistive devices, their controllers often lack the ability to synchronize and adapt to meet individual users' needs. This letter investigates two control approaches for lower limb exoskeletons: a real-time kinematic
This work investigates the optimal cost function composition for human gait at different walking speeds. Kinematic and kinetic data for walking at four walking speeds were collected from five individuals without any known disability. The data was then used to recover optimal cost functions in a pred
This letter presents a novel method for reference trajectory adaptation in lower limb rehabilitation exoskeletons during walking. Our adaptation rule is extracted from a cost function that penalizes both interaction force and trajectory modification. By adding trajectory modification term into the c
Human gait optimality has been investigated recently, with the development of detailed musculoskeletal models, through trajectory optimization approaches or deep reinforcement learning (DRL). Trajectory optimization studies are limited by the trajectory length and can only generate open-loop solutio
In this letter, we introduce a novel control strategy called Virtual Energy Regulator (VER) for lower limb rehabilitation exoskeletons. Unlike the conventional trajectory tracking controllers, VER, which is a time-independent controller, does not control the exoskeleton joints over a reference traje