Wen-Yu Zhao

Prediction-driven active assistance control for lower-limb exoskeletons using multisource information fusion and short-term gait prediction

Introduction For lower-limb exoskeletons to provide continuous position-reference assistance based on wearer state, the state of human–exoskeleton coupling must be sensed and translated into executable motor commands. However, when prediction outputs are directly fed into low-level controllers without further processin...