2024
Online Adaptive Impedance Control with Gravity Compensation for an Interactive Lower-Limb Exoskeleton
Run Janna, Kanut Tarapongnivat, Natchaya Sricom, Chaicharn Akkawutvanich, Xiaofeng Xiong, Poramate Manoonpong
IROS 2024poster
While lower-limb exoskeletons have been increasingly used for gait assistance and rehabilitation, most of them continue to function as assistive devices in the exoskeleton-user relationship as a leader and follower. This limits the user’s ability to interactively contribute to gait control. Therefor…