Constraint-based intelligent control of a bilateral lower-limb exoskeleton. KU Leuven
The main goal of this work is to develop a control framework to enable actuated lower-limb exoskeletons to assist persons with voluntary motion capabilities in daily life. To ensure the person remains in charge of the motions, model-based controllers first need to compensate the exoskeleton dynamics. This model-based controller required three main steps. First, model-based control demands for a good dynamic model of the exoskeleton. To obtain ...