Direct Force Control of Exoskeleton Suit

Except relying heavily on the precise dynamic model of the system, sensitivity amplification control method’s another big defect is that the exoskeleton suit itself cannot judge how the control effect is. This is because the information that the exoskeleton suit can obtain only is the movement information itself, and how much force is exerted on the exoskeleton suit by human, namely, the magnitude of the energy consumed by the human body can not be obtained by the exoskeleton suit.