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

Abstract

The development of a more rapid detection method for step initiation is a challenging area of research for interaction force elimination in exoskeletons. Several studies have attempted to enable a more rapid detection of step initiation via either the precedence walking assistance mechanism or the shadow walking assistance mechanism. Although the precedence walking assistance mechanism is the fastest for detecting step initiation, this mechanism has limitations, such as low reliability when using bio-signals in further development of the exoskeleton. In this study, we implemented a precedence walking assistance mechanism based on gait analysis in the Unmanned Technology Research Center Exoskeleton without using any bio-signals and were thus able to reduce the interaction force of the operator during the first step.

Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism

“…Walking assistive exoskeletons attempt to detect human walking intention including step initiation as soon as possible because a faster detection of step initiation initiates first step of the exoskeleton faster, but also because it allows the operator to walk more comfortably [5][6][7][8]. There are two types of approach to detect walking intention including step initiation in the walking assistive exoskeleton: a precedence walking assistance mechanism and a shadow walking assistance mechanism [9].…”