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The Control of a Lower Limb Exoskeleton for Gait Rehabilitation: A Hybrid Active Force Control Approach

This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation. The exoskeleton that is restricted to the sagittal plane is modelled together with a human lower limb model. In this case study, a harmonic disturbance is excited at the joints of the exos...

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Bibliographic Details
Main Authors: A. P. P. A., Majeed, Zahari, Taha, A. F. Z., Abidin, Muhammad Aizzat, Zakaria, Ismail, Mohd Khairuddin, M. A. M., Razman, Z., Mohamed
Format: Conference or Workshop Item
Published: Elsevier 2017
Subjects:
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Online Access:https://doi.org/10.1016/j.procs.2017.01.204
https://doi.org/10.1016/j.procs.2017.01.204
http://umpir.ump.edu.my/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf
http://umpir.ump.edu.my/17105/13/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf
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https://doi.org/10.1016/j.procs.2017.01.204
https://doi.org/10.1016/j.procs.2017.01.204
http://umpir.ump.edu.my/17105/7/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf
http://umpir.ump.edu.my/17105/13/The%20Control%20of%20a%20Lower%20Limb%20Exoskeleton%20for%20Gait%20Rehabilitation-A%20Hybrid%20Active%20Force%20Control%20Approach.pdf

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