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. 2017 Aug 24;11:43. doi: 10.3389/fnbot.2017.00043

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Copyright © 2017 Jutinico, Jaimes, Escalante, Perez-Ibarra, Terra and Siqueira.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Impedance control with inner $H_{\infty}$ force control. Graphs show desired (blue) and measured (red) values for the platform torque, τ_plat (top), and angular position of the ankle joint (bottom).