Control algorithms for ankle robots: A reflection on the state-of-the-art and presentation of two novel algorithms

Abstract

With computer speeds greatly increasing, hardware is no longer a hurdle in the development of controllers for wearable lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then supply the robot with the correct desired movements. This paper reflects on some existing control algorithms and then presents theory and test results of two novel concepts. The goal of this paper is to show that the two new concepts are capable of producing the correct motor profile.