Abstract
A mechanical design and a two-level control method for an ankle exoskeleton (AE) are represented in this paper in the case where the AE device is implemented to assist human walking. Attempting to release the burden of wearers, it remains paramount to reduce the weight of the AE. To this end, this paper implements a Boden cable to separate the motor from the exoskeleton during the mechanical design of the AE. Moreover, aiming at enhancing human locomotion ability, a two-level controller based on the iterative learning control (ILC) algorithm is represented to govern the control behavior of the AE in this paper. The feasibility and efficacy of the developed two-level controller are evaluated through experimental tests over four different subjects. The experimental results show that the muscle activity of each subject can be reduced compared to walking without the designed AE device.
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