Fig. 19

A block diagram of the Hybrid Kinematic Impedance Controller used in this work. Real-time estimates of gait phase \(\hat{\phi }\), task variation \(\hat{\chi }\) (i.e. walking speed), and control mode \(\mu \) (i.e. Walk vs. Sit/Stand) define desired joint impedance parameters \(K, B, \theta _\text {eq}\) and joint angles \(\theta _\text {d}\) using data-driven models. The torque commands \(\tau \) are calculated using an impedance controller during stance or a position controller during swing