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

Table 1

The duty of exoskeleton and person in walking gait subphases by different switched controller form.

Gait	Controller	Exoskeleton	Person
()		Control double knee angle	Adapt to exoskeleton
()		Control left knee angle and retract right leg	Adapt to exoskeleton
()		Adapt to person and retract left leg in advance	Regulate the center of gravity
()		Control right knee angle and retract left leg	Adapt to exoskeleton
()		Adapt to person and retract right leg in advance	Regulate the center of gravity