8 accepted papers
Autonomous navigation in mobile robots has made significant advancements; however, traditional methods often struggle to adapt in real-time to dynamic or unstructured environments. This paper presents the Online Planner's Parameter Adaptation (OPPA) framework, which enhances both adaptability and sa
In this study, we propose an interaction control framework for gait assistance and resistance using a robotic exoskeleton. We define a smoothed state variable that represents joint angle movements while walking. Furthermore, a self-feedback controller is designed with the delayed output state. By ap
We propose a novel two-tier gait recognizer using a minimal number of mechanical sensors built into a lower limb exoskeleton. The aim of this recognizer is to offer one-step selection of one of the actions ascending, descending, and level walking during five gaits (stair ascent/descent, slope ascent…
We propose a simulation framework for gait assistance with ankle pathologies. We first construct the neu-romuscular walking model, then design the parameters for assistance torques for stance and swing legs. The parameter values are determined by performing dynamic optimizations which takes into acc…
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 i…
This paper presents a simulation framework for pathological gait assistance with a hip exoskeleton. Previously we had developed an event-driven controller for gait assistance [1]. We now simulate (or optimize) the gait assistance in ankle pathologies (e.g., weak dorsiflexion or plantarflexion). It i…
This paper presents a control method for walking assist with hip-mounted exoskeleton robots. For modeling a user's current walking motion, a novel finite state machine is first constructed. We divide a walking cycle uniformly using the inevitable zero crossing events. When state transitions occur, w…
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 o…