Abstract
Lower limb exoskeleton has been proven to be effective in gait training and locomotion assistance. Specifically, control strategies of exoskeletons play the most important role in safe and effective interaction between the user, the exoskeleton, and the environment. In this paper, an analysis on the control strategies of hip exoskeletons and exosuits is performed. The controls are divided into three levels: high, medium, and low. The definition of high-level control as well as the corresponding control methods are listed and the principle of each is explained. Then, the mid-level control section is divided between detection and action layer and each control that belongs to one of the two categories is analyzed. The definition of low-level control and its control methods are then explained. At last, according to the results of various studies, the advantages and potential disadvantages of each method are put forward. The purpose of this paper is to provide reference and guidance for future researchers who hope to develop new controls or improve existing control strategies for hip exoskeletons and exosuits.
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