Trajectory generation and control of a lower limb exoskeleton for gait assistance

• Main Authors: Luo, Lincong, Foo, Ming Jeat, Ramanathan, Manoj, Er, Jie Kai, Chiam, Chye Hsia, Li, Lei, Yau, Wei Yun, Ang, Wei Tech
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering; Dynamic Movement Primitives; Path-based Control
• Online Access: https://hdl.handle.net/10356/170427
• Institution: Nanyang Technological University

The application of lower limb exoskeletons for gait assistance has attracted extensive attention in recent decades. Reference trajectory and assistive control are the important aspects determining the performance of the exoskeleton. During overground walking, there are certain variations in touchdow...