Weigen Ye

Force-Sensor-free Contact Estimation for Lower Limb Exoskeleton Robots Based on Probabilistic Modeling and Fusion

Lower limb exoskeletons (LLEs) play a crucial role in assisting paraplegic patients with walking in outdoor environments characterized by complex terrains, including various stairs, slopes, and uneven grounds. However, most existing control methods for LLEs rely on predefined joint angles, lacking t