Hybrid Model Control of WalkON Suit for Precise and Robust Gait Assistance of Paraplegics
Kyeong-Won Park Jungsu Choi Kyoungchul Kong Kyeong-Won Park Jungsu Choi Kyoungchul Kong
Powered exoskeletons for people with paraplegia have been widely developed. To generate the basic but essential motions for daily human life, precise control algorithms to follow the joint reference trajectories are necessary. The dynamic characteristics of the exoskeletal joints, however, varies signifi-cantly during walking because the load side is exchanged from legs in the air to the wearer’s ...