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- W4387455663 abstract "This paper presents a soft hip exoskeleton (SH-Exo) for healthy people’s daily walking, which effectively provides an assisted force for hip extension through an actuation system with flexible Bowden cable. In addition, it is lightweight to satisfy the user’s comfort and human-exoskeleton coordination. A control strategy based on Adaptive Hopf Oscillators (AHO) is proposed to achieve gait division and gait phase recognition. In order to achieve the goal of tracking the desired force curve accurately, a control strategy of the PID controller based on feedforward compensation is proposed. The results of the experiment show that the SH-Exo significantly reduces the metabolic cost of walking by an average of 5.3% in the Exo-on condition compared to the Exo-off condition." @default.
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- W4387455663 date "2023-01-01" @default.
- W4387455663 modified "2023-10-11" @default.
- W4387455663 title "Design and Control of a Soft Hip Exoskeleton for Assisting Human Locomotion" @default.
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- W4387455663 doi "https://doi.org/10.1007/978-981-99-6486-4_33" @default.
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