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Fig. 13 | Journal of NeuroEngineering and Rehabilitation

Fig. 13

From: Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Fig. 13

Exoskeleton joint torque control evaluation. The joint torque analysis for the offline assistance-as-needed is shown (condition A). The top three subfigures (a to c) show the joint torque for the hip, knee and ankle for one STS motion. The desired joint torque τdes,spr is shown in blue. This desired spring torque is the sum of the exoskeleton dynamics compensation torque τdyn, shown by the light blue curve, and the desired assistance indicated by the blue area between τdyn and τdes,spr. The realised spring torque \(\widehat {\boldsymbol {\tau }}_{spr}\) is represented in red. The torque to accelerate the motor inertia is given in yellow. Seat-off occurs at the black dashed line. The lower three subfigures (d to f) show the average error (difference) and the band of standard deviation (±σ) between the desired and the delivered spring torques for all the STS motions of condition A

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