Oscillator-Based Transparent Control of an Active/Semiactive Ankle-Foot Orthosis.

Transparency, defined as the ability of a robot to exert nil interaction force on the user, is a key requirement for any wearable robot for assistance, rehabilitation, or functional augmentation. In this study, we propose a new controller to improve the transparency of a powered orthosis. The proposed controller takes advantage of the cyclic nature of human walking to predict the upcoming undesire...