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This paper exposes a control architecture enabling rehabilitation of walkingimpaired patients with the lower-limb exoskeleton Atalante. Atalante's controlsystem is modified to allow the patient to contribute to the walking motionthrough their efforts. Only the swing leg degree of freedom along the nominalpath is relaxed. An online trajectory optimization checks that the muscleforces do not jeopardize stability. The optimization generates referencetrajectories that satisfy several key constraints from the current point to theend of the step. One of the constraints requires that the center or pressureremains inside the support polygon, which ensures that the support legsubsystem successfully tracks the reference trajectory. As a result of thepresented works, the robot provides a non-zero force in the direction of motiononly when required, helping the patient go fast enough to maintain balance (orpreventing him from going too fast). Experimental results are reported. Theyillustrate that variations of $\pm$50% of the duration of the step can beachieved in response to the patient's efforts and that many steps are achievedwithout falling. A video of the experiments can be viewed athttps://youtu.be/_1A-2nLy5ZE

Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results