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This paper describes a controller for a lower-limb exoskeleton that enables variable-geometry stair ascent and descent for persons with lower limb paralysis. The controller was evaluated on a subject with T10 complete spinal cord injury (SCI) on two staircases, one with a riser height and tread depth of 18.4 × 27.9 cm (7.25 × 11 in) and the other 17.8 × 29.8 cm (7 × 11.75 in). The controller enabled...
This paper describes a method for early detection of posture transitions in a powered orthotic brace purposed for assisting elderly people in sit-to-stand transitions. The detection system is constructed using a linear Support Vector Machine classifier that is trained from features extracted from the signals produced by the sensors mounted on the orthosis. The sensors include accelerometers, potentiometers,...
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