Legged exoskeletons supplement human intelligence with the strength and endurance of a
pair of wearable mechanical legs that support heavy loads. The exoskeleton-type system is
a nonlinear system with uncertainty of parameters, which is not easy to be identified with
traditional mathematical model. This paper presents co-simulations of a novel exoskeleton-
human robot system on humanoid gaits with fuzzy-PID/PID algorithms, which do not need
the precise model. The lower extremity exoskeleton model with series–parallel topology was …