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. 2019 May 29;13:30. doi: 10.3389/fnbot.2019.00030

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Copyright © 2019 Petrič, Peternel, Morimoto and Babič.

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) and the copyright owner(s) 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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Block diagram of the proposed control concept. The force generated by the user F_u is used to calculate the desired supporting force of the exoskeleton F_e. This is then used as a force reference for the exoskeleton.