A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/9279627/figures/9279627.fig.009a.svgz" name="9279627.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Equilibrium point</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/9279627/figures/9279627.fig.009b.svgz" name="9279627.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Limit cycle</td></tr></table>

<div>Stable equilibrium point and limit cycles corresponding to the motion of the knee joint.</div>

Mathematical Problems in Engineering

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Figure 9

Figure 9: A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability 