Exoskeleton Suit’s Reference Trajectory Estimated Method Based on Neural Network

In Chap. 6, we use human–machine interaction model to estimate the reference trajectory, reference speed, and reference acceleration of the exoskeleton suit, but the precise form of human–machine acting force model cannot be known in advance; the use of the fixed human–machine acting force model cannot estimate the intention of the human accurately (i.e., the reference trajectory of the exoskeleton suit); for example, in different motion states, the forms and parameters of the human–machine acting force are different (linear or nonlinear or order).