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This paper describes the control architecture of a\ud10 DOF (Degrees of Freedom) lower limbs exoskeleton\udfor the gait rehabilitation of patients with gait\uddysfunction. The system has 4 double‐acting rod\udpneumatic actuators (two for each leg) that control the\udhip and knee joints. The motion of each cylinder’s piston\udis controlled by two proportional pressure valves,\udconnected to both cylinder chambers.\udThe control strategy has been specifically designed in\udorder to ensure a proper trajectory control for guiding\udpatient’s legs along a fixed reference gait pattern.\udAn adaptive fuzzy controller which is capable of\udcompensating for the influence of the dry friction was\udsuccessfully designed, implemented and tested on an\udembedded real‐time PC/104.\udIn order to verify the proposed control architecture,\udlaboratory experiments without a patient were carried\udout and the results are reported here and discussed

Control Architecture of a 10 DOF Lower Limbs Exoskeleton for Gait Rehabilitation