Comparison of Control Algorithms Using a Generalized Model for a Human with an Exoskeleton


  • Antonio Concha Facultad de Ingeniería Mecánica y Eléctrica, Universidad de Colima, Colima
  • Francisco Emmanuel González-Sánchez Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Coahuila, Torreón, Mexico
  • Efrain Ramírez-Velasco Departamento de Eléctrica-Electrónica, Instituto Tecnológico de Aguascalientes, Mexico
  • Martín Sánchez Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Coahuila, Torreón, Mexico
  • Suresh Kumar Gadi Facultad de Ingeniería Mecánica y Eléctrica, Universidad Autónoma de Coahuila, Torreón, Mexico



Force augmenting device, exoskeletons, Human-Robot Interaction, closed-loop control.


This article presents a pictorial representation of a generalized model for a human interacting with an exoskeleton or a force-augmenting device. This model is used for comparing four different control schemes, which are: 1) Kazerooni's algorithm, 2) BLEEX’s algorithm, 3) technique inspired by fictitious gain, and 4) Force control with velocity and position feedback. The hardware and software requirements for the presented control algorithms are also discussed.


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How to Cite

Concha, A., González-Sánchez, F. E., Ramírez-Velasco, E., Sánchez, M., & Gadi, S. K. (2018). Comparison of Control Algorithms Using a Generalized Model for a Human with an Exoskeleton. Journal of Applied Science &Amp; Process Engineering, 5(1), 249–255.