Human-in-the-Loop Adaptive Control of an Ankle Exoskeleton for Gait Symmetry under Asymmetric Loading

Asymmetric weight-bearing frequently disrupts gait symmetry and increases muscular effort. This paper presents the development of a lightweight ankle exoskeleton and a human-in-the-loop (HIL) adaptive control strategy to mitigate these effects. The exoskeleton employs a modular design with remote ac...

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Bibliographic Details

Published in:	IEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 1 - 6
Main Authors:	Zhuang, Wenbing, Luo, Zining, Li, Xinying, Yu, Shiquan, Leng, Yuquan, Fu, Chenglong
Format:	Conference Proceeding
Language:	English
Published:	IEEE 14.07.2025
Subjects:	Adaptive control Ankle Asymmetric load Exoskeleton Exoskeletons gait symmetry Human in the loop human-in-the-loop optimization Limbs Loading Mechatronics Muscles Optimization Real-time systems
ISSN:	2159-6255
Online Access:	Get full text
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