Terrain Feature Estimation Method for a Lower Limb Exoskeleton Using Kinematic Analysis and Center of Pressure.

ABSTRACT: While controlling a lower limb exoskeleton providing walking assistance to wearers, the walking terrain is an important factor that should be considered for meeting performance and safety requirements. Therefore, we developed a method to estimate the slope and elevation using the contact points between the limb exoskeleton and ground. We used the center of pressure as a contact point on the ground and calculated the location of the contact points on the walking terrain based on kinematic analysis of the exoskeleton. Then, a set of contact points collected from each step during walking was modeled as the plane that represents the surface of the walking terrain through the least-square method. Finally, by comparing the normal vectors of the modeled planes for each step, features of the walki

SUBMITTER: Shim M 

PROVIDER: S-EPMC6832667 | biostudies-literature | 2019 Oct

REPOSITORIES: biostudies-literature