Modeling and control of a lower limb exoskeleton with two degrees of freedom

The exoskeletons are bio-mechanisms used for amplification of strength, load heavy objects, increase speed and human resistance. for this reason the exoskeletons have many medical and military applications. The present paper concerns about construction and control of exoskeleton assisted by SEA (Series Elastic Actuators) having two degrees of freedom (knee and ankle). This exoskeleton offers a reduction in effort required by the user to reach and keep the stand up position as well as to performs some exercises like flexing the leg, etc.

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