Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements

As an important movement of the daily living activities, sit-to-stand (STS) movement is usually a difficult task facing elderly and dependent people. In this article, a novel impedance modulation strategy of a lower-limb exoskeleton is proposed to provide appropriate power and balance assistance during STS movements while preserving the wearer’s control priority. The impedance modulation control s...