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Mathematical Problems in Engineering
Volume 2015, Article ID 905761, 15 pages
http://dx.doi.org/10.1155/2015/905761
Research Article

A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment

1School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China
2Department of Fluid Control & Automation, Harbin Institute of Technology, Harbin 150001, China
3School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

Received 4 November 2014; Revised 8 May 2015; Accepted 10 May 2015

Academic Editor: Stanisław Migorski

Copyright © 2015 Qing Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Supplementary Material

The tester wears exoskeleton with 2 km/h velocity walk in human-machine coordinated motion. In order to ensure the safety of the tester, we use a triangular steel in walking mode. Sensor functional tests should be finished before the system starts. The data is recorded during the test. The 2 personnel for push-pull steel frame are responsible for controlling the speed and direction of steel frame. The external load is 60 kg in back frame and the weight of exoskeleton is 30 kg.

  1. Supplementary Material