Motion Modeling and Control of Lower Limb Exoskeleton Based on Max-Plus Algebra

Table 1

The state transition conditions of FSM.

Condition no.	Motion	Um	Pf −Pb	Ph	Pt
C1	Left foot lifts	u1 = 1	>ΔP	1⟶0	1
C2	Left foot falls	u2 = 1	<ΔP	0	0
C3	Right foot lifts	u3 = 1	>ΔP	1⟶0	1
C4	Right foot falls	u4 = 1	<ΔP	0	0

The index of denoting the left/right foot/leg is omitted.