基金Project supported by Foundation of Chongqing Education Commission,China(No KJ112203):Research of the Intelligent Control System of the Lower Limb Bone RobotNational Natural Science Foundation of Chongqing Science&Technology Commission,China(No cstc2012jjA 40028):The Coordination Synchronization Control Research of Movement of the Wearable Type Lower Limb Outside Bone Robot and Human(cstc2012jjA 40028)
