An Energetic Approach to Task-Invariant Ankle Exoskeleton Control
Katharine Walters,Gray C. Thomas,Jianping Lin,Robert D. Gregg,Katharine Walters,Gray C. Thomas,Jianping Lin,Robert D. Gregg
Robotic ankle exoskeletons have been shown to reduce human effort during walking. However, existing ankle exoskeleton control approaches are limited in their ability to apply biomimetic torque across diverse tasks outside of the controlled lab environment. Energy shaping control can provide task-invariant assistance without estimating the user's state, classifying task, or reproducing pre-defined ...
