Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton

Figure 11

Simulation results of left leg support for Set4: (a) human-machine interaction force at the back for FARC+C1, (b) human-machine interaction force at the right foot for FARC+C2, (c) human-machine interaction force at the back for FARC+C2, and (d) human-machine interaction force at the right foot for FARC+C2.

(a)

(b)

(c)

(d)