Producing cutting edge, state-of-the-art technology in the wearable robotics field is always limited by our abilities to use and exploit the multifunctional components that an active exoskeleton like SPEXOR features. To this extend, we use Optimal Control methods in a two-fold methodology: Firstly, we produce target torque profiles as to successfully drive the hip actuator […]

Based on the probabilistic state classifiers the high-level controller determines the appropriate assistive torque profile. The assistive torque profile is the resulting combination of a passive and active torque source.