Developed two assistive controllers to reduce torque required by wearer to track desired trajectory on single-DOF hip exoskeleton

Generated plot of Hip torque needed to steer system along desired trajectory

Calculated inverse dynamics of overall robot+leg system and implemented in Simulink to estimate combined Robot and Hip Torque

Designed a pool of AFOs (Adaptive Frequency Oscillators) to compute on-line the estimates of the system position, velocity and acceleration and gait cycle time.

Used AFO outputs as inputs to a model-based assistive controller to provide assistive torque to intended trajectory equal to 50% required torque

Implemented Kernel-based nonlinear filter to obtain smooth real-time estimate of wearers torque as function of the gait phase provided by AFO, and used to create alternate model-free assistive controller

Compared both controllers with quantitative data

Used CLME (Complementary Limb Motion Estimation) to approximate left hip variables using angles from opposite leg - Designed appropriate Kalman filters to map output