Divergent Component of Motion Planning and Adaptive Repetitive Control for Wearable Walking Exoskeletons

Pengbo Huang, Zhijun Li, Mengchu Zhou, Zhen Kan

Research output: Contribution to journalArticlepeer-review


Wearable walking exoskeletons show great potentials in helping patients with neuro musculoskeletal stroke. Key to the successful applications is the design of effective walking trajectories that enable smooth walking for exoskeletons. This work proposes a walking planning method based on the divergent component of motion to obtain a stable joint angle trajectory. Since periodic and nonperiodic disturbances are ubiquitous in the repeating walking motion of an exoskeleton system, a major challenge in the walking control of wearable exoskeleton is the joint angle drift problem, that is, the joint angle motion trajectories are not necessarily periodic due to the presence of disturbance. To address this challenge, this work develops an adaptive repetitive control strategy to guarantee that the motion trajectories of joint angle are repetitive. In particular, by treating the disturbance as system uncertainties, an adaptive controller is designed to compensate for the uncertainties based on an integral-Type Lyapunov function. A fully saturated learning approach is then developed to achieve asymptotic tracking of repetitive walking trajectories. Extensive experiments are carried out to demonstrate the effectiveness of the tracking performance.

Original languageEnglish (US)
Pages (from-to)2244-2256
Number of pages13
JournalIEEE Transactions on Cybernetics
Issue number4
StatePublished - Apr 1 2024

All Science Journal Classification (ASJC) codes

  • Software
  • Information Systems
  • Human-Computer Interaction
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


  • Adaptive repetitive control
  • divergent component of motion (DCM)
  • integral-Type Lyapunov function
  • walking exoskeleton


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