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Identifying the dynamics of a human-exoskeleton system

A primary goal of robotic rehabilitation is to provide repeatable, cost-effective therapy that is comparable to or better than conventional therapy. Lower-limb rehabilitation robots can be separated into robot-dominant devices, where the robot drives the motion of the human, and cooperative devices, where the robot and the human share control. Robot-dominant approaches have been shown to be less effective, as the human is less actively engaged [1]. Cooperative rehabilitation robots are typically force-controlled, employing techniques such as assist-as-needed, error augmentation, or proportional electromyography. While upper-limb rehabilitation robots have outperformed conventional therapy [2], conventional lowerlimb therapy is still the most effective option.