2020
Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton
RA-L 2020
Recently, it has been shown that light-weight, passive, ankle exoskeletons with spring-based energy store-and-release mechanisms can reduce the muscular effort of human walking. The stiffness of the spring in such a device must be properly tuned in order to minimize the muscular effort. However, thi