Lower-limb exoskeletons used to improve free-living mobility for individuals with neuromuscular impairment must be controlled to prescribe assistance that adapts to the diverse locomotor conditions encountered during daily life, including walking at different speeds and across varied terrain. This system employs an ankle exoskeleton control strategy that instantly and appropriately adjusts assistance to the changing biomechanical demand during variable walking. Specifically, this system utilizes a proportional joint-moment control strategy that prescribes assistance as a function of the instantaneous estimate of the ankle joint moment
PROPORTIONAL JOINT-MOMENT CONTROL FOR POWERED EXOSKELETONS AND PROSTHESES