This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design\r\nand evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators\r\n(PMAs) as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes\r\na simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction\r\nmodel. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a\r\nsubject (WO/S); the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third\r\ntest involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S). Full body weight support\r\n(BWS) was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity.This\r\nassessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the\r\nproposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase\r\nstiffness at both hip and knee joints.
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