Figure 15.

Measured tracking performance of the inner-loop digital servo control of the soft knee exoskeleton. (a) Experimental data of the sinusoidal response of the soft knee exoskeleton, with the motor control signal shown. (b) Experimental data of the reference input knee angle ${\theta }_{L-mea}\left(t\right)$ v.s. the output knee angle ${\theta }_{O-mea}\left(t\right)$.