Bounded Control of an Actuated Lower-Limb Exoskeleton

Figure 12

Knee-ankle torque input. ; . Considering the human resistive torque in Figure 13, that is, the human is exerting a force capable of resisting the orthosis control ability to track the physiotherapist trajectory, hence there is a further increase in the control torque required to perform the task as compared to Figure 8 (Scenario  2 of Case  1).