Minimal Sensor Setup in Lower Limb Exoskeletons for Motion Classification based on Multi-Modal Sensor Data

Patzer, Isabel; Asfour, Tamim

doi:10.1109/iros40897.2019.8968007

Cited by 6 publications

(1 citation statement)

References 19 publications

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“…In [29], the tests were carried out with ten healthy subjects to evaluate the precision of the proposed algorithm, and the results showed that the error of similarity in the hip was 7.7%; in the knee, it was 13.1%; and in the ankle, it was 6.8%. In [30], the test was carried out with five healthy subjects, obtaining an average latency of 638.97 ms and an average precision of 92.8% with IMU sensors and force sensors. In [31], 10 gait cycles were performed and the delay time was found to be 31.4 ms.…”

Section: Discussionmentioning

confidence: 99%

Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton

Calle-Siguencia

Callejas-Cuervo

García-Reino

2022

Sensors

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Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evident that the integration met the initial objective. In addition, the integration between the exoskeleton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorporation of complementary systems.

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Section: Discussionmentioning

confidence: 99%