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

<div>Control structure of the lower limb walking exoskeleton: (a) overall control structure and (b) structure of the adaptive robust cascade force controller (ARCFC).</div>

Applied Bionics and Biomechanics

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Figure 3

Figure 3: Generalized Multiphase Dynamic Modeling and Precision Interaction Force Control of a Walking Lower Limb Hydraulic Exoskeleton 