3 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 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
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