| abstract |
A method for controlling an ambulatory exoskeleton (1) linked to a user (100), comprising the following steps: - measuring only the vertical component (Z Ng , Z Nd ) of the pressure (R d , R g ) under each foot (123, 133) of the user (1); - controlling actuators (40, 41, 42, 43) such that the vertical component (Z Ed , Z Eg ) of the resultant of the balancing forces (R Eg , R Ed ) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (Z Ng , Z Nd ) of the pressure (R d , R g ) measured under the corresponding foot (123, 133) of the user (100). |