Abstract
This project aims the development of an impedance control algorithm to be implemented on an exoskeleton for the performance of passive, active, active-assisted and active-resistance physiotherapeutic exercises. The algorithm elaboration will be based on the working principle of the ETMICAE exoskeleton (Exoesqueleto de Tronco e Membros Inferiores para Caminhada Autônoma Estável), developed…