2025
Robust Gait Phase Estimation With Discrete Wavelet Transform for Walking Assistance on Multiple Terrains
RA-L 2025
Gait phase detection is crucial to realize personalized assistive functions of lower limb exoskeletons. A common method in gait phase estimation is the adaptive oscillator, which performs well in periodic gaits. However, these types of methods fail in gait phase estimation under aperiodic gait cycle