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

Figure 5

Simulation results of left leg support for Set1: (a) motion tracking error for the left leg joints, (b) motion tracking error for the right leg joints, (c) control input for the left leg joints, and (d) control input for the right leg joints.

(a)

(b)

(c)

(d)