Yingbo Song

A Novel Cable-Tightness-Based Control Strategy With High-Accuracy and Seamless Gait Assistance for Cable-Driven Exoskeletons

Cable-driven exoskeletons face control challenges such as transmission latency and complex kinematics. In gait assistance, torque–position switching strategy can provide transparency and near-zero impedance, but its mode switching introduces discontinuities. Iterative-learning methods enhance tracki