The design of a motion control system for a powered reciprocating gait orthosis is considered. Models for the orthosis are obtained using least squares identification. The control system design is based on pole-placement techniques and a restricted Youla parametrization of the controller. Experimental results are included.

ISA Transactions, Volume 45, Issue 2, April 2006, Pages 249-258

http://dx.doi.org/10.1016/S0019-0578(07)60193-1