Adaptive Assistance with an Active and Soft Back-Support Exosuit to Unknown External Loads via Model-Based Estimates of Internal Lumbosacral Moments

Alejandro Moya-Esteban, Saivimal Sridar, Mohamed Irfan Mohamed Refai +2

State of the art controllers for back exoskeletons largely rely on body kinematics. This results in control strategies which cannot provide adaptive support under unknown external…