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SCIENCE CHINA Information Sciences, Volume 62, Issue 5: 050202(2019) https://doi.org/10.1007/s11432-018-9717-2

The development of a high-speed lower-limb robotic exoskeleton

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  • ReceivedAug 27, 2018
  • AcceptedNov 30, 2018
  • PublishedJan 16, 2019

Abstract

There is no abstract available for this article.


Acknowledgment

This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61573147, 61625303, 61751310), National Key Research and Development Program of China (Grant No. 2017YFB1302302), Guangdong Science and Technology Research Collaborative Innovation Projects (Grant Nos. 2014B090901056, 2015B020214003, 2016A020220003), Guangdong Science and Technology Plan Project (Application Technology Research Foundation) (Grant No. 2015B020233006), and Anhui Science and Technology Major Program (Grant No. 17030901029).


References

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  • Figure 1

    (Color online) (a) Available walking exoskeletons; (b) developed exoskeleton; (c) schematic of exoskeleton system controls; (d) block diagram showing exoskeleton controls, where $\tau$ is the control input, $q_d$ and $q$ are the desired and actual positions, respectively, in joint space, $K_p$ and $K_d$ represent adjustable-control gain, and $G(q)$ is used to compensate for the gravity torque of the exoskeleton; (e) trajectories of joints and human walking velocities.

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