The study examines the performance of various controllers in exoskeleton-assisted walking, highlighting how different control strategies affect user effort and metabolic rates. Data reveal that controllers HTC and AMTC lead to lower muscular effort, contrasting with TBC. However, HTC exhibited higher interaction torque, suggesting users adapted differently. The analysis also emphasizes the importance of IP (Interaction Portrait) analysis to understand these adaptations better and optimize exoskeleton design for enhanced user experience and reduced effort during rehabilitation and mobility assistance.
...both controllers reduce the walking effort more than the TBC-controlled exoskeleton. However, a similar trend has not been observed in the total interaction torque...
The decrease in metabolic rate occurred based on two different human adaptation strategies... users relinquished control to the exoskeleton, passively following the exoskeleton's movements.
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