@inproceedings{d87c8eb057de499d833c021a38159d6d,
title = "Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance",
abstract = "This paper presents an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The mechatronics design covering mechanical design, sensors selection and motor controllers are introduced. A 2-link model is built for dynamic analysis control purposes, upon which a trajectory tracking control method based on an improved computed torque control is proposed. This control method was tested with sensor data acquired from walking trials of a healthy subject, which validated the design and gait control of this exoskeleton.",
keywords = "active lower-limb exoskeleton, exoskeleton validation, trajectory tracking, walking gait",
author = "Lingzhou Yu and Harun Leto and Shaoping Bai",
year = "2023",
month = aug,
day = "28",
doi = "10.1007/978-3-031-32446-8_14",
language = "English",
isbn = "978-3-031-32445-1",
volume = "11",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "127--135",
editor = "Daniela Tarnita and Nicolae Dumitru and Ionut Geonea and Doina Pisla and Giuseppe Carbone",
booktitle = "New Trends in Medical and Service Robotics - MESROB 2023",
address = "Germany",
edition = "9",
note = "New Trends in Medical and Service Robotics ; Conference date: 07-06-2023 Through 10-06-2023",
}