Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation
Haojie Liu,
Chang Zhu,
Zude Zhou
et al.
Abstract:In recent years, lower limb exoskeletons have achieved satisfactory clinical curative effects in rehabilitating stroke patients. Furthermore, generating individualized trajectories for each patient and avoiding secondary injury in rehabilitation training are important issues. This paper explores the utilization of series elastic actuator (SEA) to deliver compliant force and enhance impact resistance in human-robot interaction, and we present the design of novel knee exoskeleton driven by SEA. Subsequently, the… Show more
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