Minimizing energy loss using an optimal control algorithm for an active human exoskeleton

Due to the advancement of technology and the increasing use of exoskeletons, it is necessary to reduce energy losses in lower limb exoskeletons. So far, a novel optimal control algorithm has been introduced to reduce energy losses as much as possible with preserving the state of equilibrium. After a limited number of iterations, the suggested control algorithm can calculate the global optimum value of energy losses. Several stages were taken in this work to design the best control algorithm that has the largest reduction in energy losses in lower limb of the exoskeleton joints under study. The suggested control algorithm is then used to create a feedback controller. In order to evaluate the efficacy of this approach, Lyapunov analysis was implement the. The transient response simulation results for various joints demonstrate that the suggested control algorithm can be used as the most efficient means of minimizing energy losses and preserving the exoskeleton under study's equilibrium state to the greatest extent feasible.