Adaptive compensation for time-varying uncertainties in model-based control of lower-limb exoskeleton systems

摘要

＜正＞Dear editor,Exoskeletons are widely used in human locomotion assistance and strength augmentation to enhance strength and endurance, wherein strategies based on model-based control are extremely sensitive to errors in the dynamic models. Additionally, the unpredictable human-exoskeleton interaction force can unbalance the pilot. Therefore, learning methods were utilized to improve the accuracy of the dynamic model [1, 2]. The modeling of dynamic model was decoupled based on the direction of interest [3]. Nevertheless,