PROBLEM TO BE SOLVED: The invention generally relates to exoskeletons, and, more particularly, to a control design framework for designing exoskeleton controllers.SOLUTION: A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system in which a frequency response magnitude of the integral admittance is lower than that of a natural human joint over desired frequencies of interest, and an assistance ratio of approximately zero is generated over the desired frequencies of interest.SELECTED DRAWING: Figure 1
RESISTIVE EXOSKELETON CONTROL DESIGN FRAMEWORK