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Table 1 Modelling procedure for an activity on an existing exoskeleton (hardware is given)

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

step no. name description
1 list sensors list all sensor information available for the exoskeleton controller
2 contact determine and characterize the different environment contact situations in the activity
3 detect decide how to detect the transition in environment contact using the available sensor data
4 model model the dynamic models of each different environment contact situation and their transitions