Trajectory Generation and Control of a Lower Limb Exoskeleton for Gait Assistance

• Published in: Journal of intelligent & robotic systems Vol. 106; no. 3; p. 64
• Main Authors: Luo, Lincong, Foo, Ming Jeat, Ramanathan, Manoj, Er, Jie Kai, Chiam, Chye Hsia, Li, Lei, Yau, Wei Yun, Ang, Wei Tech
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.11.2022; Springer; Springer Nature B.V
• Subjects: Angular position; Artificial Intelligence; Control; Electrical Engineering; Engineering; Exoskeletons; Fitness equipment; Gait; Legs; Mechanical Engineering; Mechatronics; Muscle strength; Regular Paper; Robotics; Spinal cord; Stroke; Trajectory control; Walking; Gait assistance; Dynamic movement primitives; Path-based control; Lower limb exoskeleton; Gait trajectory generation

The application of lower limb exoskeletons for gait assistance has attracted extensive attention in recent decades. Reference trajectory and assistive control are the important aspects determining the performance of the exoskeleton. During overground walking, there are certain variations in touchdow...