Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation
Figure 6
Schematic diagram of the exoskeleton of the AIRGAIT leg orthosis controller schemes. (a) Cocontraction model based P controller and (b) cocontraction model based PP controller, where (– are the contraction input patterns, (–) are the corrected contraction input patterns, (–) are the pressure input patterns, and (–) are the corrected pressure input patterns.
