外骨骼技术的研究文档，为做军方项目设计方案，对设计同类方案有益处-Exoskeletal technology research documents, to do military project design, the design of similar programs have benefits

该文章能较为详细的介绍当前外骨骼阻抗控制算法的实施，对阻抗算法有进一步的认识(This paper can introduce the implementation of the current exoskeleton impedance control algorithm in detail, and have a further understanding of the impedance algorithm)