The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach
This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exos...
Main Authors: | , , , , , , , |
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Format: | Article |
Language: | English |
Published: |
Elsevier B.V.
2017
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Subjects: | |
Online Access: | View Fulltext in Publisher View in Scopus |