This paper deals with force and impedance control of series elastic actuators for driving the joints of an exoskeleton for lower limbs. Series elastic actuators are devices where elastic components are introduced between the motor’s output and the load. From the deflection of these components, it is possible to measure the force applied to the load and to control it. Also, the mechanical impedance of the actuator/load interface can be regulated to the typical values of joint’s stiffness and damping presented by humans during the walking. Results of force and impedance control applied to an active ankle-foot orthosis driven by a series elastic actuator are presented. Also, a variable impedance control strategy is performed to reproduce the behavior of an actual ankle joint.

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