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).