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Yang et al. Intell Robot 2024;4(1):107-24 I http://dx.doi.org/10.20517/ir.2024.07 Page 123

torques are distinct. For example, in Figure 14, the red solid curve with a lighter subject mass is smaller than
the black dashed curve with a heavier subject mass.

Overall, the experimental results indicate the CEEC approach proposed in this paper can realize the coordi-
nated energy-efficient walking assistance for the HEW system, resulting in a significant improvement. How-
ever, If you are only concerned with the COM tracking effect, CMP is the better approach. Methods can be
chosen according to the actual situation.

5. CONCLUSIONS AND FUTURE WORK
Inthispaper,aCEECapproachisproposedfortheHEWsystem,whichisbasedonthediscrete-timeextremum
seeking control and the coordinated motion planning strategies. The proposed approach could automatically
tune the supporting force in real time, and adaptive to different subjects, and drive the robotic walker to follow
the movement of the COM. Optimal supporting force and coordinated joint angles can be generated with
the proposed approach for the robotic walker to assist the human-exoskeleton systems in implementing high
energy-efficientwalking. Inthefuture,theefficiencyofthemethodshouldbetestedinmoredifferentscenarios,
such as with varied gait patterns, and applied to the real HEW systems.

DECLARATIONS
Authors’ contributions
Conception and design of the study and performed data analysis: Yang C, Zou C, Peng Z
Manuscript writing: Yang C, Zou C
Materials support and experiments set up: Zhang X, Cheng H
Performed data acquisition and analysis of the study: Zhang X, Zhang L
Manuscript review and correction: Huang R, Cheng H

Availability of data and materials
Not applicable.

Financial support and sponsorship
This work was supported by the National Key Research and Development Program of China under Grant
2018AAA0102504, the National Natural Science Foundation of China (No. 62203089, No. 62003073, No.
62103084,No. 62303092),theProjectfundedbyChinaPostdoctoralScienceFoundationunderGrant2021M700695,
the Sichuan Science and Technology Program (2022NSFSC0890, 2021YFS0383, 2023YFG0024, 2022YFS0570,
2022NSFSC0865), and the Fundamental Research Funds for the Central Universities (ZYGX2022YGRH003,
ZYGX2021YGLH003).

Conflicts of interest
All authors declared that there are no conflicts of interest.

Ethical approval and consent to participate
Not applicable.

Consent for publication
Not applicable.

Copyright
© The Author(s) 2024.