Design and Evaluation of the Unmanned Technology Research Centre Exoskeleton (UTRCEXO)

Abstract

In this paper, we present an exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO), which utilizes a shadow walking assistance mechanism. The shadow walking assistance mechanism shadows the operators walking after visible movements by the operator, such as a heel-off event or a toe-off event. The UTRCEXO determines the operators walking intention with the toe-off event, when the toe leaves the ground, and then shadows the operators walking. The UTRCEXO implementing the shadow walking assistance mechanism shadows the first step of the operator immediately.

Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis

“…11. Interaction force with the shadow walking assistance mechanism in the UTRCEXO for the first step [17].…”

“…We implemented the shadow walking assistance mechanism in the UTRCEXO based on the toe-off approach [17]. The UTRCEXO implementing the shadow walking assistance mechanism detected the operator's step initiation from the toeoff events, when the toe leaves the ground, by using a F/T sensor installed in the foot plates.…”