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With this multimodal actuator, several modes of operation in the power-assisted knee exoskeleton during a motion cycle are actuated, including series elastic actuation, stiff position control, and energy storage and release. Also, a control strategy for power-assisted knee exoskeleton motion control based on a state machine is developed. The ability of the power-assisted knee exoskeleton to follow human motion was tested, and the results showed that the angle error of the knee exoskeleton followed the human motion is not more than 0.4\u02da, and the response time error of the knee exoskeleton followed the human motion is not more than 0.2 s.<\/jats:p>","DOI":"10.1017\/s0263574716000576","type":"journal-article","created":{"date-parts":[[2016,8,17]],"date-time":"2016-08-17T09:31:17Z","timestamp":1471426277000},"page":"1906-1922","source":"Crossref","is-referenced-by-count":11,"title":["Research on a multimodal actuator-oriented power-assisted knee exoskeleton"],"prefix":"10.1017","volume":"35","author":[{"given":"Yali","family":"Han","sequence":"first","affiliation":[]},{"given":"Songqing","family":"Zhu","sequence":"additional","affiliation":[]},{"given":"Zhou","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Yu","family":"Shi","sequence":"additional","affiliation":[]},{"given":"Dabin","family":"Hao","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2016,8,17]]},"reference":[{"key":"S0263574716000576_ref8","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0048-y"},{"key":"S0263574716000576_ref15","doi-asserted-by":"crossref","unstructured":"R. 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