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This manuscript presents control of a high-DOF fully actuated lower-limbexoskeleton for paraplegic individuals. The key novelty is the ability for theuser to walk without the use of crutches or other external means ofstabilization. We harness the power of modern optimization techniques andsupervised machine learning to develop a smooth feedback control policy thatprovides robust velocity regulation and perturbation rejection. Preliminaryevaluation of the stability and robustness of the proposed approach isdemonstrated through the Gazebo simulation environment. In addition,preliminary experimental results with (complete) paraplegic individuals areincluded for the previous version of the controller.

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking