The article discusses various feedforward control strategies for exoskeletons, particularly emphasizing the Time-Based Torque Controller (TBC) that uses lookup tables for joint torque calculations. It highlights the interplay between gait phase and estimated speed, facilitating enhanced control during rehabilitation activities. The authors address how individual adaptation strategies are pivotal for optimizing user experiences and performance. Human adaptation mechanisms are also explored, showcasing the importance of interaction portrait analysis in understanding user experience. Overall, the research aims to improve rehabilitation outcomes through tailored exoskeleton technology.
The Time-Based Torque Controller (TBC) utilizes lookup tables for determining joint torques by correlating gait phase and estimated speed, enhancing exoskeleton functionality.
The study highlights the significance of individualized adaptation strategies in exoskeleton design, which can greatly improve user experience and performance during rehabilitation.
Human adaptation mechanisms are examined to understand how users can adjust to the complexity of exoskeletons, emphasizing the importance of interaction portrait analysis.
Findings reveal that effective feedforward control strategies in exoskeletons can facilitate smoother walking patterns, which is crucial for rehabilitation and mobility assistance.
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