Research Article
A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment
Table 2
The duty of exoskeleton and person in squat gait subphases by different switched controller form.
| Gait | Controller | Exoskeleton | Person |
| ) |
| Control left knee angle and retract right leg | Squat preparation |
| () |
| Retract left knee angle gradually | Adapt to exoskeleton |
| () |
| Adapt to person and hold in the prescript posture | Regulate the center of gravity |
| () |
| Control 2 knee angles and extend 2 legs | Adapt to exoskeleton |
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