Abstract In this study, a humanoid prototype of 2-DOF (degrees freedom) lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton. To improve detection accuracy human-robot interaction torque, BPNN (backpropagation neural networks) proposed estimate force compensate for measurement error 3D-force/torque sensor. Meanwhile, backstepping contro...

The design of an assistive lower limb exoskeleton robot for paraplegic patients that can measure the centre of pressure is presented. In contrast with most biped walking robots, the centre of pressure (CoP) or zero moment point (ZMP) has not been actively used in the operation of exoskeleton robots. In order to measure CoP in our exoskeleton robot, two kinds of for...

Achieving high performance controller for multi-joints actuators on rehabilitation lower limb exoskeleton (RLLE) is difficult due to its non-linear characteristics. The with less tracking error a key challenge in their controller. Therefore, this paper presents new particle swarm optimization based initialization of model reference adaptive fuzzy logic proportional derivative (Adaptive-FLC-PD),...