BioKEX: A bionic knee exoskeleton with proxy-based sliding mode control

In this paper, we present a powered bionic knee exoskeleton aiming at physical assistance and rehabilitation. The mechanical structure of the knee exoskeleton is based on anthropomorphic design, the tibia rolling or sliding on the femur during joint movements. In addition, a proxy-based sliding mode controller is used to improve the safety of the wearable device. Preliminary experimental results on trajectory tracking and dynamic response verify the feasibility of the proposed knee exoskeleton.