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

Figure 9

Human-machine interaction force of left leg support for Set3: (a) at the back for FARC+C1, (b) at the right foot for FARC+C1, (c) at the back for FARC+C2, and (d) at the right foot for FARC+C2.

(a)

(b)

(c)

(d)