Figure - PMC

Skip to main content

An official website of the United States government

Here's how you know

Here's how you know

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

View full-text article in PMC

. 2021 Oct 15;11(10):393. doi: 10.3390/bios11100393

Search in PMC
Search in PubMed
View in NLM Catalog
Add to search

© 2021 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

PMC Copyright notice

The control strategy of the active hip assistance. $T$ : predicted gait cycle time, $F_{d}$ : desired force, $F_{m}$ : measured force, $e_{F}$ : force error, $P_{a}$ : output position of the admittance controller, $P_{f}$ : output position of the feedforward model, $P_{t}$ : target position of the motor, $P_{e}$ : measured position of the motor, $e_{P}$ : position error, $θ$ : hip angle measured by IMUs.