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.

GaitControllerExoskeletonPerson

)
Control left knee angle and retract right legSquat preparation

()
Retract left knee angle graduallyAdapt to exoskeleton

()
Adapt to person and hold in the prescript postureRegulate the center of gravity

()
Control 2 knee angles and extend 2 legsAdapt to exoskeleton