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t=2s t=6s t=10s t=17s
Baseline

CMP

ESC

CEEC

Figure 8. The comparison of walking experiments with different control strategies. CMP: Coordinated Motion Planning; ESC: Extremum
Seeking Control; CEEC: Coordinated Energy-Efficient Control.

Figure 9. The comparison of walking experiments for different subjects.

reference baseline CMP ESC CEEC
0.98

0.96
z (m)
0.94

0.92
0.9
0 1 2 3 4 5 6 7 8 9 10 11
x (m)

Figure 10. The comparison of COM trajectories tracking performance with different control strategies. (1) Reference: the reference COM
trajectories; (2) Baseline: the human-exoskeleton walks without any assistance of the robotic walker; (3) CMP: the HEW system walks with
only the active wheel movements; (4) ESC: the HEW system walks with only the supporting force under the ESC strategy; (5) CEEC: the
HEW system walks with the proposed coordinated energy-efficient control approach. CMP: Coordinated Motion Planning; ESC: Extremum
Seeking Control; CEEC: Coordinated Energy-Efficient Control; COM: Center of Mass; HEW: human-exoskeleton-walker.