Bounded Control of an Actuated Lower-Limb Exoskeleton

Figure 16

Knee-ankle torque input. ; . Considering the human assistive torque in Figure 17, that is, the human is exerting a force capable of assisting the orthosis control ability to track the physiotherapist trajectory, hence there is a decrease in the control torque required to perform the task (Scenario  3 of Case  1).