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

Figure 7

Simulation results of left leg support for Set2: (a) human-machine interaction force at the back, (b) human-machine interaction force at the right foot, (c) parameter estimation of at the back, and (d) parameter estimation of at the right foot.

(a)

(b)

(c)

(d)