Techniques are provided for controlling an exoskeleton actuator at a joint of a human-exoskeleton system by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates for the human-exoskeleton system, and determining an equivalent joint torque for the exoskeleton...http://www.google.com/patents/US7774177?utm_source=gb-gplus-sharePatent US7774177 - Exoskeleton controller for a human-exoskeleton system
