3 accepted papers
In this letter, a new adaptable gait trajectory shaping method is proposed for lower-limb exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized across different joints and updated online in response to the human users' physical behavior to enhance their safety and c
This letter puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems' robustness to the larger time delays comes prevalently at the cost of increased sett
In this letter, an integrated control strategy is developed for both locomotion trajectory planning and postural stability, enabling shared autonomy between the human and lower-limb exoskeleton. Divergent component of motion (DCM) analysis was employed previously based on the linear inverted pendulu