2024
A velocity dependent delayed output feedback control (v-DOFC) for gait assistance with an ergonomically designed bi-directional cable-driven hip assist device
IROS 2024
Hip assistance with cable-driven devices has been proven to help decrease the metabolic cost of gait. However, most existing devices use heavy actuating modules or provide assistance in only one direction, limiting the effectiveness. Cable-driven devices are also difficult to accurately estimate the