Research Article

Bounded Control of an Actuated Lower-Limb Exoskeleton

Figure 8

Knee-ankle torque input. ; . Considering the human resistive torque in Figure 9, that is, the human is exerting a force capable of resisting the orthosis control ability to track the physiotherapist trajectory, hence there is an increase in the control torque required to perform the task (Scenario  2 of Case  1).