Coordinated human-exoskeleton locomotion emerges from regulating virtual energy.

ABSTRACT: Lower-limb exoskeletons have demonstrated great potential for gait rehabilitation in individuals with motor impairments; however, maintaining human-exoskeleton coordination remains a challenge. The coordination problem, referred to as any mismatch or asynchrony between the user's intended trajectories and exoskeleton desired trajectories, leads to sub-optimal gait performance, particularly for individuals with residual motor ability. Here, we investigate the virtual energy regulator (VER)'s ability to generate coordinated locomotion in lower limb exoskeleton. Contribution: (1) In this paper, we experimented VER on a group of nine healthy individuals at different speeds (0.6m/s - 0.85m/s) to study the resultant gait coordination and naturalness on a large group of users. (2) The resultant a

SUBMITTER: Nasiri R 

PROVIDER: S-EPMC11753675 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature