2021 The 21st International Conference on Control, Automation and Systems (ICCAS 2021)

Ramada Plaza Hotel, Jeju, Korea, Oct. 12∼15, 2021

High-Precision Motion Control of a Lower-Limb Wearable Robot for People

with Walking Disability by Hybrid Filtered Disturbance Observer
Kyeong-Won Park1 , Jungsu Choi2∗ and Kyoungchul Kong3∗
1 Department
of Mechanical Engineering, Republic of Korea Air Force Academy,
Cheongju, 28187, Korea (kyeongwon.park@kaist.ac.kr)
2 Department of Robot Engineering, Yeungnam University,

Gyeongsan, 38541, Korea (jschoi@yu.ac.kr) ∗ Co-Corresponding author

3 Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology,

Daejeon, 34141, Korea (kckong@kaist.ac.kr) ∗ Corresponding author

Abstract: Control of lower-limb wearable robots has focused on high-precision. As motion references for assistance are
optimally designed to the users, exact realization of the intended ones is directly related to the effectiveness of assistance.
Precise walking assistance, however, is a challenging task since the system is involved with time-varying uncertainties
from humans. Since the disturbance observer (DOB) has shown exceptional performance in robustness, in this paper, an
algorithm named gait assistive control toward practical preciseness (GACPP) is proposed. The GACPP attacks severe
limitations in applying the DOB to waling assistance. As the dynamics of exoskeletal joints varies significantly during
walking as the load side alters from a free leg to the body. a hybrid identification loop is adopted. The joints are
modeled differently along the gait phases, and they form a new control framework that online reshape its characteristics.
In consideration of the digitization of controllers, the hybrid models are also allowance-filtered and nominalized. In this
paper, the GACPP is verified by experiments with the powered exoskeleton, WalkON Suit.

Keywords: Robot control, robust control, disturbance observer.

1. INTRODUCTION The extension in the cut-off frequency of the Q-filter may

Wearable robots are ones of the most promising appli-
cations for human assistance or rehabilitation. Espeically,
powered exoskeletons for the people with disabilities in
walking have been actively studied upon the very strong
needs of the users; e.g., ANGEL ROBOTICS manufac-
tured WalkON Suit [1], Ekso Bionics manufactured Ekso
[2].
The successful motion assistance for walking highly
depends on the precise tracking performance of the feed-
back control algorithms. This is because the reference
motions have been optimally designed to the robotic de-
vices, as well as to the wearers him/herselves. The design
of the joint trajectories has taken into account the dy-
namic stability during walking, user-adaptation, human
energy consumption, etc. The generation of the intended
motions, thus, is one of the most critical goal in control
for both the wearer’s safety and the effectiveness of the
motion assistance.
The typical feedback control algorithm which is uti-
lized in many cases is proportional-derivative (PD) con-
trol [3,4]. These methods, however, may or may not guar-
antee the high-precision in tracking as the active human
is involved in the system. The system is disturbed by ac-
tions from the wearer (e.g., balancing with crutches) and
its characteristics varies in time.
In this paper, a disturbance observer (DOB), which
is one of the most effective robust control algorithm for
robot control, is modified and applied to the lower-limb
wearable robot. To maximize the precise tracking perfor-
mance during walking, several constraints in designing
the Q-filter inside the DOB are addressed in this paper.
enlarge the available frequency range of the motion con-
trol, and also improve the disturbance rejection function
of the DOB.
The first constraint to resolve is the inaccurate des-
ignation of the nominal model, which is related to the
model discrepancies inside the DOB. The definition of
an exact nominal model for the wearable robot is tricky
as the characteristics of the system vary much differently
to the gait phase of the wearer; the load side is repeat-
edly altered from a free leg to the wearer’s body. In
such cases, researches have stated that the bandwidth of
Q-filter needs to be decreased to improve the robustness
of DOB [5]. The second constraint is emerged at 2) the
practical implementation stage, i.e., the digital to analog
(D/A) process which accompanies sampling zeros in the
discretized nominal model. As they cause an internal sta-
bility problem in an inverse form or excites the unmod-
eled dynamics, the frequency responses of Q-filter need
to be adjusted to suppress the deterioration of the plant
dynamics [6].
To resolve these typical constraints in using the DOB,
in this paper, gait assistive control toward practical pre-
ciseness (GACPP) is proposed. Compared to the con-
ventional control methods, this paper models the dy-
namic behavior of human walking with hybridity. It also
includes hybrid feedforward control and hybrid DOB.
Moreover, the zero dynamics is adjusted by a novel fil-
tering process. A paraplegic person wearing the WalkON
Suit [1] is participated to verify the performance of the
proposed control algorithm.

978-89-93215-21-2/21/$31.00 ICROS 1218

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 System Identification Loop: Swing
! 3ODQW " System Identification Loop: Stance
!" , #!"
"+ "#$%& Parameter
$%& "#$ , %#$
+ Adaptation
'%& Algorithm
nonlinear
#"
)%& *
# ! +%&
! + ! Actual &
Controller
Model
Load
!
Feedback control loop

Fig. 2. Customized parameter adaptation algorithm.

3ODQW

the user’s body and transfers the his/her lower limb freely
(a) (b)
in the air for the stance and swing phase, respectively.
The dynamic equations of the powered exoskeleton
3ODQW shown in Fig. 1 can be arranged as follows. In Fig.
1(c), the angular displacement is induced by the thigh
# ! link since the shank link is attached to the ground with
infinity-stiffness. Therefore, the load side dynamics is
expressed as follows:
! +%(  
0 1
" ẋ = x + T + Gst (1)
0 − BJstst
)%( *
$%(      
'%( x1 θ 0
where x = = ∈R , T=
⊭ ∈ R⊭ , Gst =
x2 θ̇ τk
Load ! 3ODQW "  
0

∈ R⊭ , θ is the angular displacement, Jst
(c) (d) mst glst sin x1
Fig. 1. Gait phases during paraplegic walking. (a) Stance is the load inertia for the stance phase, Bst is the damping
phase. (b) Free body diagram of the stance phase. (c) coefficient for the stance phase, and g is the gravitational
Swing phase. (d) Free body diagram of the swing acceleration, respectively.
phase. During the swing phase shown in Fig. 1(d), on the
other hand, the shank link is dominantly actuated by τk
rather than the thigh link, because the thigh link is con-
2. DEVELOPMENT OF A DYNAMIC GAIT nected to the relatively heavier object, i.e., the human
MODEL body. Thus, the dynamic equation in the load side can
be obtained as follows:
2.1 Powered Exoskeletons for People with Walking
Disability
 
0 1
ẋ = sw x + T − Gsw (2)
In this paper. WalkON Suit [1] is utilized as an ex- 0 − BJsw
ample of the lower-limb wearable robots. Among the ex-  
oskeletal joints, the knee joint is selected to be controlled 0
where Gsw = ∈ R⊭ , θ is the angular dis-
whose dynamic characteristics alters most violently dur- msw glsw sin x1
ing walking. Experiments for system identification and placement, Jsw is the load inertia for the swing phase, Bsw
verification of the proposed algorithm are carried out us- is the damping coefficient for the swing phase, respec-
ing the joint of WalkON Suit. tively.

2.2 Analysis on Dynamic Walking 2.3 Model Parameter Adaptation

Following the repeated changeover of the gait phases
during walking, the dynamic characteristics of the joint
varies widely. Fig. 1 shows the free-body diagrams of the
lower extremity of the powered exoskeleton in walking,
which are modeled by the center of mass (total mass :
msw , mst , length : lsw , lst ). The knee joint torque (i.e., τk )
has been in effect delivered to the both frame links (i.e.,
the thigh and shank) including the reaction torque, but
note that the actuated parts get actually different for Fig.
1(d) and Fig. 1(c); the joint actuator bears the load from
Since it is crucial to access the model parameters fit
to practical users, a customized parameter adaptation al-
gorithm (PAA) represented in Fig. 2 is suggested(i.e., the
recursive least square PAA). Apart from the original func-
tion of the PAA, the nonlinear compensation block in Fig.
2 should be also noticed. By getting rid of the nonlinear
terms in Gst and Gsw from (1) and (2), respectively, a
linear transfer function can be developed. Thus, the grav-
itational torque is compensated by the joint torque to uti-
lize it as an input to the PAA, calculated by the following

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 ! (") ! (")

! (") * Identified ! (") % Identified

System System
increases
!"
+ + ! " + + !
decreases D/A
!" increases !" D/A %(&, ') +
"(#, $) Sampler +
+ Sampler +
!" decreases !" increases
!" decreases
! " !$ "$ !$ #$ ! # %& %&
#
#$ $ "$ $ " !" (#) Switch # (!) Switch
Convergence
of every zero !$ (#) "
#($) $ (!)
!" increases
!"decreases

(a)
Fig. 3. Pole-zero maps of the transfer functions in z
domain. (a) Open-loop transfer functions and (b)
compensated transfer functions with reasonable vari-
ations in model parameters.
equations:
   
0 0 µ
Tcomp = · st
T + Gst T + Gsw µsw
where Tcomp ∈ R⊭ is the compensated torque vector,
physically representing the joint torque to only overcome
the inertia and the damping of the system. µst and µsw
represent the information of which phase the joint torque
was measured, e.g., µst = 1 and µsw = 0 at the stance.
3. GAIT ASSISTIVE CONTROL TOWARD
PRACTICAL PRECISENESS
3.1 Nominal Model Manipulation
The gravity term is generally recognized as an ex-
ogenous disturbance and is completely rejected by the
DOB. Therefore, each plant dynamics is represented as
the second-order system which has one integrator, i.e.,
the most typical way to establish the plant model by des-
ignating the inertia and damping:
1 and 4(b) is from the utilization of the memory. The se-
G(s) = . (4)
Js2 + Bs
The discretization of the plant models is characterized
by the ZOH equivalence. Fig. 3(a) show the pole-zero
maps after the ZOH equivalence, with reasonable model
parameters (which will be discussed in Section 4.). No-
tice Fig. 3(a) that the sampling zeros have emerged in the
discretized models due to the ZOH. As they are arranged
on the highest frequency grid, the inverse form of the dis-
cretized plant model may excite the unmodeled dynamics
and make its response to chatter severely. Either the in-
crease of the load inertia or the decrease of the damping
coefficient of the physical system worsens the situation.
This paper removes the sampling zero by directly de-
signing a filter named an allowance filter, which is
Bo (0)
Ψ(z) = α0 · , (5)
Ao (z)
where the discretized open-loop transfer function ob-
(")
(a) (b)
Fig. 4. Allowance filtering. (a) serial switching, and (b)
parallel switching.
(b)
tained from (4) is expressed as G(z) = BAoo (z)(z) , and α0 is
the static gain. To curtail the effect of the sampling zero,
the control input is filtered by (5) and fedforward to the
output, generating the adjusted output θ̂ as shown in Fig.
4.
The simulational result of the zero dynamics adjust-
ment is represented in Fig. 3(b), by the pole-zero map
(3) of the transfer functions from u to θ̂ . For simplicity, α0
has been determined to be -1 here. The uncontrollable or
unobservable states are eliminated by pole-zero cancella-
tion in advance. By the proposed compensation method,
the sampling zeros can be totally transferred to a constant
value, which is allowable.
3.2 Hybrid Control Framework
Based on the adjusted plant models, a hybrid control
framework that repeatedly re-shape its form accompanied
to the gait cycle of the user is developed. In Fig. 4, the
allowance filtering has been chosen as an example to ex-
plain the basic concepts of the block switching. Ψα (z)
and Ψβ (z) are individually developed by (5) based on
their nominal models (i.e., Gα (z) and Gβ (z)). There are
two possible ways for the block swithcing, which are se-
rial switching and parallel switching, as represented in
Fig. 4. Commonly for both cases, the current gait phase
(i.e., µk ) selects the output calculated from the current
nominal model. The main difference between Figs. 4(a)
rial switching uses the switched output as the previous
value to calculate the current output, while the paral-
lel switching iterates its own loop for Ψα (z) and Ψβ (z)
but only their seperate results are interchanged. That is,
the switching process is either regarded as an integrated
block (i.e., Ψ̄(z)) in Fig. 4(a), or as a coincident operation
of a couble of controllers in Fig. 4(b). Even if the model
parameters have changed during walking, the previous
output should be corresponded to the previous model pa-
rameters. Therefore, the serial switching is selected in
this paper to incorporate with the physical situation.
3.3 Robustness Enhancement
The robustness of the control algorithm is enhanced
by the DOB. The unique point is that the DOB is ap-
plied to the adjusted output θ̂ , of which the filtered out-
put is feedforwardly added. The allowance filtering leads
[G(z) + Ψ(z)]−1 not to have highly-vibrating modes. Al-
though the DOB is applied to θ̂ , in this paper, the per-

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 !(") !(", #) !
"# (s) $(s) Physical ! "# ($)
System
$ +
! + " + + '& ! (") 0 Physical
D/A "(,- .) Sampler '$* (&) ! System
- + + + Intention !" - + + + '&
recognition
Switch #$% (&) D/A , /)
"(-.
# + - + Sampler +
!" ($)
$% Error
Feedforward Feedback $%
! (") Switch Filtering
! (") Switch

Switching Effect Adjustments of

# (") $
%(!) Resolution # (") $
%(!) Zero Dynamics

!
!
! -
$
"# (!) + %(!)
! +
$
"# (!) + %(!) (!) Switch
- + !
(!) Switch
$
"* (!) + %(!)
!
$
"* (!) + %(!) Discretized Domain with Fast Sampling Disturbance Estimation

Disturbance Observer
Fig. 6. Block diagram of the GACPP.
Fig. 5. Robustness enhancement by disturbance ob- Table 1. Details of Wearer
server. Sex Male Age 46 SCI level T9
AIS A Weight (kg) 77 Height (m) 1.72

formance of the DOB is evaluated by the actual output 3.4.1 Feedforward filters
θ̃ , which is the physical joint angle compensated by the As the DOB can gaurantee the effectiveness of the per-
algorithm as, fect tracking control, the feedforward filter is designed as
follows:
θ̃ = Zu (z)uc + Zd (z)d (6)
Ff (z) = G∗ (z)GClosed
−1
(z) (12)
where G(z)C (z)
where GClosed (z) = 1+G(z)Cf b (z) . The inverse of the trans-
fb
G̃(z)[Gβ (z) + µk ∆G (z) + Ψ̄(z)] fer function is usually unrealizable, so G∗ (z) has been
Zu (z) = ,
[Gβ (z) + µk ∆G (z)][1 − Q(z)] + Ψ̄(z) + G̃(z)Q(z) introduced to make the filter realizable.
(7)
G̃(z)[Gβ (z) + µk ∆G (z)][1 − Q(z)] + Ψ̄(z) 3.4.2 Feedback controller
Zd (z) = . To fulfill the function of error-feedback, the PD control
[Gβ (z) + µk ∆G (z)][1 − Q(z)] + Ψ̄(z) + G̃(z)Q(z)
is introduced to the GACPP. The stability of the feedback
(8)
controller is guaranteed when the following
 condition is
uc , d, ∆G (z), and G̃(z) represent the control input from 
tracking controllers (i.e., C f b (s), Ff (s) to be discussed
in the next section), exogenous disturbance, model dis-
crepancies between the discretized nominal models (i.e.,
Gα (z) − Gβ (z)), and actual model, respectively. Ψ̄(z) =
µk Ψα (z) + (1 − µk )Ψβ (z), which is the serial switching
shown in Fig. 4(a). That is, µk = 1 at the stance and
µk = 0 at the swing phase.
In the certain frequency range that meets both condi-
tions that are,
|Q(e jwT )| ≈ 1, |Ψ̄(e jwT )| ≪ 1,
the exogenous disturbance is fully rejected and the actual
plant is nominalized, i.e.,
Zu (z) ≈ Gα (z), or Zu (z) ≈ Gβ (z),
and
Zd (z) ≈ 0.
The disturbance not only contains the external forces but
also includes the model discrepancies, therefore, the ro-
bustness is enhanced by the DOB.
3.4 Tracking Controllers
The control framework of the GACPP is shown in Fig.
6. Feedforward filters and feedback controller are ap-
pended to the algorithm with hybridity.
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satisfied: ∀pi ∈ z | 1 + G(z)C f b (z) = 0  < 1 where pi
represents the i-th pole of the closed loop transfer func-
tion and C f b (z) represent the feedback controller.
Another consideration of the gain selection is the at-
tenuation of the switching effects. In this paper, the
gains for the PD control are remained identical even if
the gait phase has changed to avoid the production of
abrupt uc . On the other hand, the filtered outputs should
be developed approximately same at the instance of the
β
block changing, i.e., Ffα (z) ≈ Ff (z) which are the feed-
forward filter blocks shown in Fig. 6. In fact, the gains
(9) of feedback controllers are also the control variables for
the feedforward filters. Not sacrificing the error reduction
function, therefore, the PD gains can be selected as,
|C f b (e jwT )| ≫ 1. (13)
(10)
(11) 4. EXPERIMENTAL RESULTS
4.1 Experimental Setup
To verify the performance of the GACPP, the WalkON
Suit shown in Fig. 7 is utilized. The hip and knee joints of
the WalkON Suit are actuated by brushless torque motors
(MF0127020, Alliedmotion Co.) equipped with a set of
cycloidal gears (maximum joint torque: 115N·m). The
details of the participant is summarized in Table 1.
To evaluate the performance of the GACPP, the fol-
lowing experiments had been conducted in this paper:
1221
 User display & controller
Wrist bands Table 2. Identified Physical Parameters from Human
Walking
Stance Swing
Units Model Parameters
Brushless torque motor Load side encoder kg · m2 , Mean 0.036548 0.0049783
Load
Cycloidal reducer kg · m2 , Max 0.037462 0.0069679
Inertia (J)
Motor side encoder kg · m2 , Min 0.035649 0.0036194
N · m · srad, Mean 76.587 4.9100
Crutchs Damping
Safety parts N · m · srad, Max 84.397 5.7227
Coefficients (B)
N · m · srad, Min 65.541 4.4496

Flat ground

Fig. 7. Experimental setup of a lower-limb wearable

robot for gait assistance.
0.04 (a)
Stance
0.035 Swing

0.03
Load inertia (kg m 2 )

0.025

0.02 Swing Stance Swing Stance Swing Stance

0.015

0.01

0.005

0
0 20 40 60 80 100
Progress (%)
(b)
(a) Fig. 9. Experimental results of conventional DOB: Q-
filter bandwidth of 45 Hz. (a) Reference and joint
75 8
output. (b) Joint torque and estimated disturbance.
Stance
Swing 7.5
Damping coefficient for Stance

Damping coefficient for Swing

70 7

6.5
4.3 Performance Enhancement of the DOB-control
(N m s/rad)

(N m s/rad)

65
6
Swing Stance Swing Stance Swing Stance
60
5.5 To demonstrate the contributions of this paper, sev-
5
eral controllers were applied to the WalkON Suit: 1)
55 4.5

50
0 20
Fig. 8. Progress of parameter adaptation: (a) load inertia,
and (b) damping coefficient.
1. Identification of model parameters for both gait
phases.
2. Performance verification of the proposed methods.
4.2 Hybrid System Identification
First, the wearer had been assisted to walk with the
feedback control algorithm in advance. Fig. 8 shows the
progress of the model parameter adaptation. The physical
parameters in (1) and (2) were determined by the human
factors as follows: mst = 70.5 kg, lst = 0.457 m, msw =
11.0 kg, lsw = 0.237 m.
The result is shown in Fig. 8. Because of the arbitrary
disturbance from human (e.g., usage of crutch, upper
body slanting, etc.), the parameters did not finally con-
4
the conventional DOB, 2) the hybrid DOB-control with-
40 60 80
3.5
100
out allowance filtering, and 3) the GACPP. For all the
Progress (%) cases, the feedback controller was designed by, C f b (z) =
(b) −1
K p + Kd 1−zT , where K p = 600, Kd = 0.6. Also, the cut-
off frequency of the Q-filter was equally set to be 45 Hz,
and the duration of each gait phase was 1s at this section.
Fig. 9 shows the experimental results with the conven-
tional DOB. The excessive cut-off frequency of the Q-
filter could not ensure the robustness; the result exhibited
the unstable aspect. The estimated disturbance in Fig.
9(b) were severely vibrated so as the joint torque, while
being saturated at the maximum joint torque.
To resolve this problem, the concept of the hybridity
has been adopted to the DOB. The inverse models as well
as the feedforward filters were continuously switched in-
side the algorithm. In Fig. 10, the result of the feed-
forward filtering in the hybridity is represented. Note
that the discontinuity at the switching instances were con-
Switching
instances

verge to a specific value (especially for the stance in Fig. Swing Stance Swing Stance Swing Stance
8(b)), however, it can be said that those variations of the
model parameters exist within a reasonable extent. The
detailed results are summarized in Table 2; mean, max-
imum and minimum model parameters obtained from a Fig. 10. Reference θd and filtered reference r in the hy-
total of 40 continous steps are provided. brid control framework.

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 even if the characteristics of the Q-filter was equal.

5. CONCLUSIONS
This paper introduced a model-based control frame-
(a) work for the lower-limb wearable robots assisting the
people with disabilities. To achieve both the high-
precision and the robust stability in gait assistance, this
paper firstly divided the dynamic model of the system
into the representative gait phases and incorporated them
in a hybrid control framework. Also, considering the im-
plementation process of the controller, a novel filtering
(b)
process and the regarding DOB-method were proposed.
Fig. 11. Experimental results of only hybrid DOB: Q- The experimental results verified the performance of the
filter bandwidth of 45 Hz without allowance filtering. proposed methods by various tests. It can be seen that
(a) Reference and joint output. (b) Joint torque and the GACPP is practically meaningful and superior com-
estimated disturbance. pared to the conventional methods, which shows the pos-
80
sibility of the disabled people being safely and effectively
Reference
assisted following the intended trajectories.
Joint angle (deg.)

Output
60

40

20
6. ACKNOWLEDGEMENT
0 1 2 3 4 5
Time (sec.)
This work was supported by the Technology Innova-
(a)
tion Program [or Industrial Strategic Technology Devel-
opment Program (20003914)] funded by the Ministry of
Trade, Industry and Energy (MOTIE, South Korea).

REFERENCES

(b)
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