Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control

Active Gait Retraining with Lower Limb Exoskeleton Based on Robust Force Control

This article addresses the design of a robust inner and outer loop controller for active gait retraining in individuals with leg motor weakness, using a lower limb exoskeleton with elastic joints. The proposed control algorithm for the inner loop is based on a robust force controller that considers...

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Bibliographic Details
Main Authors: Yukio Rosales-Luengas, Sergio Salazar, Saúl J. Rangel-Popoca, Yahel Cortés-García, Jonathan Flores, Rogelio Lozano
Format: Article
Language:English
Published: MDPI AG 2025-04-01
Series:Applied Sciences
Subjects:
robust force controller
sliding mode control
gait retraining
lower limb exoskeleton
Online Access:https://www.mdpi.com/2076-3417/15/7/4032
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