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Fig. 3 | Journal of NeuroEngineering and Rehabilitation

Fig. 3

From: Review of control strategies for lower-limb exoskeletons to assist gait

Fig. 3

Block diagram of the proposed classification of the control strategies subparts. The idea of this classification is that any controller in the literature can be represented by a path that joins the used control blocks. The path does not have to start from the high-level layer, and may start directly in the mid-level. A controller can have several parallel paths if the controller combines several strategies at the same time, or successively during the gait. Connecting lines show the common paths identified in the literature. However, it should be noted that the lack of a line between two blocks does not mean they cannot be related. For instance, the outcome of the high-level layer, the “operation mode”, could affect any of the blocks of the middle-level, but it is not connected to them for the sake of readability

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