Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation
Figure 8
Cocontraction model control scheme’s strategy, where PMA static model of pressure versus contraction at zero load condition; PMA hysteresis model at zero load condition; PMA hysteresis model at load condition; PMA model using 6th-order polynomial equation; contraction input pattern for the antagonistic mono- and bi-articular actuators; controlled contraction input patterns after the controls of the muscle activation level ; is the sudden increase in pressure due to the PMA nonlinearity; and is the increase in muscle activation level.
