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In this paper, we propose a novel assistance strategy for stair ascent walking using our robotic hip exoskeleton. Our strategy exploits foot contact event estimated by an inertial measurement unit (IMU) and can detect user intention as well as reflect user preference. In our strategy, a gait cycle is divided into 4 phases and the transitions between the phases are based on events that are unavoidable...
In this paper, we propose a novel online gait task recognition algorithm for hip exoskeleton. The proposed algorithm provides an automatic and prompt recognition result in just one step based on the relations between both hip joint angles at the moment of foot contact. Gait task recognition is one of the challenges that walking assist devices must address to offer adaptable and reliable assistance...
This paper introduces a lightweight knee assisting robot called “COWALK-M” and a control methodology using estimated ground slope and intended walking speed of the wearer. It is designed to assist stroke patients suffering from mild hemiplegia to move the paretic knee joint during Activities of Daily Living(ADL). The COWALK-M has various kinds of sensors including pressure sensors under the soles...
This paper proposes a passive-type exoskeleton called PEXER IV (Passive Exoskeleton for Easy Running, version IV) as shown Fig. 1 and its design objectives for development. PEXER IV is a wearable-type device, aiming reduction of physical load of a runner. The development of the assistive exoskeleton for running has some difficulties. The exoskeleton must sufficiently exert force to support a part...
For the purpose of developing a comprehensive set of rehabilitation system, this paper presents a novel design of pressure sensing foot for lower limb exoskeleton. The pressure sensing foot measures plantar pressure and acceleration to give instruction of the contact between human foot and ground and reflects behavior of the wearer. Compared with previous works, the pressure sensing foot described...
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