Development and Hybrid Control of an Electrically Actuated Lower Limb Exoskeleton for Motion Assistance

Development and Hybrid Control of an Electrically Actuated Lower Limb Exoskeleton for Motion Assistance

This paper describes a system design and hybrid control algorithm of an electrically actuated lower limb exoskeleton (LLE). The system design mainly includes three parts: mechanical structure design, actuation system design and sensor system design. According to the initial state of the joint angle,...

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Bibliographic Details
Main Authors: Chao-Feng Chen, Zhi-Jiang Du, Long He, Yong-Jun Shi, Jia-Qi Wang, Guo-Qiang Xu, Yu Zhang, Dong-Mei Wu, Wei Dong
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Lower limb exoskeleton
system design
human motion intention
hybrid dual-mode control
tracking performance
power-assisted effect
Online Access:https://ieeexplore.ieee.org/document/8897544/

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