Aug 2026· IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications· pp. 243-248· 0 citations· 22 references
Abstract
Traditional delayed output feedback control (DOFC) for hip exoskeletons provides a model-free and computationally efficient approach for gait assistance. However, fixeddelay DOFC is susceptible to phase mismatch under variable cadence conditions. To address this issue, a DOFC framework based on an adaptive frequency oscillator (AFO) is proposed to achieve dynamic phase alignment. By acting as a realtime cadence estimator, the AFO continuously updates the DOFC delay parameter. Simulation results demonstrate that the proposed method achieves accurate frequency tracking, maintains improved torque-velocity phase alignment across different walking speeds, and reduces antagonistic negative work compared with fixed-delay DOFC under the tested conditions.
This paper presents an adaptive control framework for an industrial lower-limb exoskeleton based on cascade control combined with reinforcement learning (RL). The multilevel hierarchical structure of the cascade controller effectively decouples the fast inner-loop current and torque dynamics from the slower outer-loop...
A. Yatsun, G. Fursov, E. Saveleva· 2026 International Russian A...· 0 citations
This study aims to develop a phased control strategy for a hydraulic lower-limb exoskeleton that incorporates motion intention prediction to provide effective and stable walking assistance for users.
An inertial measurement unit (IMU)-based long short-term memory (LSTM) network was developed to predict lower...
Ya-Li Han, Hong-Wei Zhong, Quan Xu et al.· Industrial robot· 0 citations
This study proposes a composite control framework for upper-limb rehabilitation exoskeletons integrating fractional-order impedance control, computed-torque compensation, and a momentum-based nonlinear disturbance observer that enhances compliant yielding and tracking robustness under non-ideal dynamics.
Chun Liu, Xin-Rong Liu, Yuhang Xue· Computer Methods in Biomecha...· 0 citations
This letter proposes a model-based vibration attenuation method for variable-impedance control of a 1-degree-of-freedom active-passive upper-limb exoskeleton. Static and dynamic human efforts are compensated separately, the variable-impedance profile follows a standard law, and the attenuator is derived from identified...
Yun-Tian Wang, J. Mcphee· IEEE Robotics and Automation...· 0 citations
Fixed assistance cannot match changing lower-limb motor capability, while excessive intervention can suppress voluntary effort. This paper proposes assistance-as-needed control using position-velocity dual impedance. The framework defines a motion-state parameter from trajectory error and human-robot interaction force;...
Wei-Tong Wang, Zhi-Ming Wang· 2026 International Conferenc...· 0 citations
