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Fig. 9 | Journal of NeuroEngineering and Rehabilitation

Fig. 9

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

Fig. 9

Overview of the exoskeleton controllers. The control loops of the exoskeleton are given. The actuator controller is a velocity controller of the motor angle θ. The input of this actuator controller comes from the low-level controller: the desired velocity and the velocity feedforward. Both signals use the dynamic model and the model of the spring. The feedforward \(\dot {\boldsymbol {\theta }}_{ff}\) is obtained from Eq. (13-14)

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