A Novel Hybrid PID-LQR Controller for Sit-To-Stand Assistance Using a CAD-Integrated Simscape Multibody Lower Limb Exoskeleton
arXiv:2604.03766v1 Announce Type: new
Abstract: Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying dynamics of the human-e…