Control of a lower limb exoskeleton using GRF estimation

When the exoskeleton is moving, at least one foot of the exoskeleton is in contact with the ground for locomotion. The foot in contact with the ground exerts the force for supporting and moving its' body on the ground. The Ground Reaction Force (GRF) is reaction of that force. Otherwise, the GRF is a required force of the leg of the exoskeleton for locomotion. Based on this fact, we propose method that estimates desired GRF for locomotion of the exoskeleton and introduce control method of the exoskeleton using it. Then, we describe way and results that have a simulation in order to verify the effectiveness of the control method.