A control system and method for an exoskeleton is provided. The control system utilizes the admittance control paradigm to provide a system and method for manipulating the exoskeleton using minimal force from the user. A force/torque sensor and servo motors are fitted onto a passive arm support, enabling motorized support for a user with upper extremity weaknesses. The exoskeleton may be used on any extremity. The admittance control paradigm includes an impedance control and an admittance control to allow a user with upper extremity weakness and limited independence to intuitively and with minimal force control the precise trajectory of their arms to achieve a greater degree of independence in activities of daily living. Unlike existing passive arm supports that utilize springs or rubber bands to balance the user's arm against gravity, this system provides more precise gravity compensation and minimizes the amount of force required to control the exoskeleton.
Exoskeleton with admittance control