Admittance Shaping-Based Assistive Control of SEA-Driven Robotic Hip Exoskeleton

This paper presents an admittance shaping-based assistive control for a series elastic actuator (SEA) driven robotic hip exoskeleton that can assist individuals with hip muscle weakness to restore normative mobility. The motivation for this paper is to develop a unified controller framework for designing an SEA-driven hip exoskeleton to assist walking and enhance gait stability. The controller design aims to modify the dynamic response of a...