Admittance Control Based Human-in-the-Loop Optimization for Hip Exoskeleton Reduces Human Exertion during Walking
Varun Nalam,Xikai Tu,Minhan Li,Jennie Si,He Helen Huang,Varun Nalam,Xikai Tu,Minhan Li,Jennie Si,He Helen Huang
Human-in-the-loop (HIL) optimization usually optimizes assistive torque of exoskeletons to minimize the human's energetic expenditure in walking, quantified by metabolic cost. This formulation can, however, result in altered gait pattern of the human joint from the natural pattern, which is undesired. In this paper, we proposed a novel concept of HIL optimization of a hip exoskeleton. The optimiza...
