Fig. 1 (Left) The GO Lab ankle exoskeleton. (Right) Benchtop testing with load clamped to exoskeleton. The control box is located on a cart and is not shown in these photos. More about this image found in (Left) The GO Lab ankle exoskeleton. (Right) Benchtop testing with load cla...

Fig. 2 Experimentally measured piston length as a function of measured ankle angle. Over the range of angles used for the exoskeleton, the piston length is well approximated with a line. More about this image found in Experimentally measured piston length as a function of measured ankle angle...

Fig. 3 Benchtop position results. The left column shows the results for the staircase trajectory. The right column shows the results for the moving trajectory. The top row shows the angle while the bottom row shows the error. The maximum error occurs when the commanded position changes quickly. In... More about this image found in Benchtop position results. The left column shows the results for the stairc...

Fig. 4 Representative position controller results from human testing. The top plot shows the angle while the bottom plot shows the error. As expected, the error is highest for the resistive condition. Nevertheless, the error is acceptable for all three human testing conditions. More about this image found in Representative position controller results from human testing. The top plot...

Fig. 5 Benchtop force results. The top plot shows the piston force while the bottom plot shows the error. As expected, the maximum errors occur at the step change in desired force before decaying to zero. The error becomes negative during the constant increase in desired force because the system l... More about this image found in Benchtop force results. The top plot shows the piston force while the botto...

Fig. 6 Representative force controller results from human testing. The top plot shows the ankle angle, the middle plot shows the piston force, and the bottom plot shows the piston force error. Note the reactive downward ankle movement at the force reference discontinuities. This movement likely im... More about this image found in Representative force controller results from human testing. The top plot sh...

Fig. 7 Benchtop impedance results. The top row shows the angle. The dotted lines indicate the equilibrium position for an equivalent weighted system. The second row shows the angular error. The third row shows the piston force. The bottom row shows the piston force error. As expected, the unloaded... More about this image found in Benchtop impedance results. The top row shows the angle. The dotted lines i...

Fig. 8 Representative impedance controller results from human testing. Dotted lines indicate the reference trajectory. The top plot shows the angle. The middle plot shows the piston force. The bottom plot shows the piston force error. As expected, the resistive condition produced the least movemen... More about this image found in Representative impedance controller results from human testing. Dotted line...

Fig. 9 Benchtop impedance impulsive results from 15 deg. The dotted line indicates the equilibrium position of an equivalent system. Results from the other impulsive tests were similar. The physical system behaves as an underdamped system and quickly converges to the expected equilibrium position.... More about this image found in Benchtop impedance impulsive results from 15 deg. The dotted line indicates...

Fig. 1 The fixed-point stop sign of the high-speed train and its measured control effects More about this image found in The fixed-point stop sign of the high-speed train and its measured control ...

Fig. 2 The distributed multiparticle model of the high-speed train More about this image found in The distributed multiparticle model of the high-speed train

Fig. 3 Schematic diagram of the MPC algorithm More about this image found in Schematic diagram of the MPC algorithm

Fig. 4 Structure diagram of the proposed precise stopping algorithm based on the distributed MPC More about this image found in Structure diagram of the proposed precise stopping algorithm based on the d...

Fig. 5 Schematic diagram of the two-level hierarchical control structure in the subcontroller for vehicle i More about this image found in Schematic diagram of the two-level hierarchical control structure in the su...

Fig. 6 Schematic diagram of the target braking force distribution for the motor car More about this image found in Schematic diagram of the target braking force distribution for the motor ca...

Fig. 7 High-speed train coupling dynamics model and its braking system model : ( a ) modeling of the direct electropneumatic blending braking system, ( b ) the vehicle/track coupling model of high-speed trains, and ( c ) the comprehensive numerical computing platform More about this image found in High-speed train coupling dynamics model and its braking system model : ( a...

Fig. 8 Parameter identification of the high-speed train braking system: ( a ) parameter identification of the motor car, ( b ) parameter identification of the trailer car, and ( c ) unmodeled dynamics of the braking system More about this image found in Parameter identification of the high-speed train braking system: ( a ) para...

Fig. 9 Influence of model control parameters on stopping performance: ( a ) influence of the control horizon N c and prediction horizon N p on the stopping error, ( b ) influence of the control weight R on the stopping accuracy and control performance, ( c ) influence of the error weight c... More about this image found in Influence of model control parameters on stopping performance: ( a ) influe...