Iterative Learning Control for a Soft Exoskeleton with Hip and Knee Joint Assistance

Iterative Learning Control for a Soft Exoskeleton with Hip and Knee Joint Assistance

Walking on different terrains leads to different biomechanics, which motivates the development of exoskeletons for assisting on walking according to the type of a terrain. The design of a lightweight soft exoskeleton that simultaneously assists multiple joints in the lower limb is presented in this...

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Bibliographic Details
Main Authors: Chunjie Chen, Yu Zhang, Yanjie Li, Zhuo Wang, Yida Liu, Wujing Cao, Xinyu Wu
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Sensors
Subjects:
lower limb assistance
soft exoskeleton
iterative learning control
force tracking
metabolic cost
Online Access:https://www.mdpi.com/1424-8220/20/15/4333

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