The two-segment leg has a torque-controlled actuator at the hip, and a

a) A typical insect leg consists of four actively movable segments

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Block diagram of the controller. The SEA is torque-controlled

Two-segment model. Each leg segment is of length ! and zero mass

The two-segment leg has a torque-controlled actuator at the hip

Felix RUPPERT, Ph.D Student, Master of Science, Max Planck Institute for Intelligent Systems, Stuttgart, IS, Dynamic locomotion group

The two-segment leg has a torque-controlled actuator at the hip

Assist-As-Needed control of a hip exoskeleton based on a novel

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