Intelligent Service Robotics

, Volume 12, Issue 4, pp 381–391 | Cite as

An admittance controller based on assistive torque estimation for a rehabilitation leg exoskeleton

  • Yali HanEmail author
  • Songqing Zhu
  • Yiming Zhou
  • Haitao Gao
Original Research Paper


A rehabilitation exoskeleton leg was constructed for gait training, and a method for exoskeleton leg swing control based on admittance model was studied. The man–machine interaction torque, the inertia compensator torque, and the exoskeleton’s assistive torque act as the inputs to the admittance control system for realizing the effective assistance to the wearer. The exoskeleton’s assistive torque is generated by estimating net torque exerted by the muscle based on adaptive frequency oscillator. A variable swing frequency experiment for simulating physical rehabilitation exercise was implemented. The results show that the inertia compensator adjusting the compensation varies with the swing frequency. The control system provides effective assistance to the wearer. The coordinated control experiment of hip and knee joints was also implemented. The results show that the interaction forces are all controlled in a reasonable and small range, and there is a good coordination between the hip joint and knee joint during swing motion.


Rehabilitation exoskeleton leg Admittance control Adaptive frequency oscillator Coordinate motion Man–machine interaction 



This work is supported by the National Natural Science Foundation of China (Grant No. 51205182), the Innovation Foundation of NJIT (Grant No. CKJA 201501, JXKJ201510), Six talent peaks project in Jiangsu Province (Grant No. JXQC-015).


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Nanjing Institute of TechnologyNanjingChina

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