{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T00:05:58Z","timestamp":1780445158598,"version":"3.54.1"},"reference-count":33,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2022,1,28]],"date-time":"2022-01-28T00:00:00Z","timestamp":1643328000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2018YFC0806802"],"award-info":[{"award-number":["2018YFC0806802"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus being convenient in assisting humans. However, the performance of an exoskeleton is limited by the structure and human\u2013exoskeleton interaction, which is analyzed from the established mathematical model of the human\u2013exoskeleton system. In order to improve the auxiliary accuracy, corresponding control methods are proposed. The disturbance observer is designed to compensate for disturbances and parameter perturbations in the inner loop. The human\u2013exoskeleton interaction feedforward model is integrated into the admittance control, which overcomes the limitation of the force loading caused by the friction of the Bowden cable and the change in stiffness of the human\u2013exoskeleton interaction. Furthermore, an angle prediction method using the encoder as the signal source is designed to reduce the disturbance of the force loading caused by human motion. Finally, the effectiveness of the design method proposed in this paper is verified through experiments.<\/jats:p>","DOI":"10.3390\/s22031040","type":"journal-article","created":{"date-parts":[[2022,1,29]],"date-time":"2022-01-29T01:43:27Z","timestamp":1643420607000},"page":"1040","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Study on the Control Method of Knee Joint Human\u2013Exoskeleton Interactive System"],"prefix":"10.3390","volume":"22","author":[{"given":"Zhipeng","family":"Wang","sequence":"first","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chifu","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhen","family":"Ding","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tao","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Feng","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bowen","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Business Administration, Zhongnan University of Economics and Law, Wuhan 430000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,1,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"104519","DOI":"10.1016\/j.mechmachtheory.2021.104519","article-title":"Design and analysis of a novel 12-DOF self-balancing lower extremity exoskeleton for walking assistance","volume":"167","author":"Liu","year":"2022","journal-title":"Mech. 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