Gait Phase Classification and Assist Torque Prediction for a Lower Limb Exoskeleton System Using Kernel Recursive Least-Squares Method

The gait phase classification method is a key technique to control an exoskeleton robot. Different people have different gait features while wearing an exoskeleton robot due to the gap between the exoskeleton and the wearer and their operation habits, such as the correspondence between the joint ang...

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