Online Adaptive PID Control for a Multi-Joint Lower Extremity Exoskeleton System Using Improved Particle Swarm Optimization by Jiaqi Liu, Hongbin Fang, Jian Xu

“…Robotic exoskeletons have great potential in the medical rehabilitation and augmentation of human performance in a variety of tasks. Proposing effective and adaptive control strategies is one of the most challenging issues for exoskeleton systems to work interactively with the user in dynamic environments and variable tasks. …”
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