3 accepted papers
This letter presents a method for data-driven user-specific gait speed estimation for people with Spinal Cord Injuries (SCIs) walking in lower-limb exoskeletons. The scarcity of training data for this population is addressed by leveraging common patterns across users that relate gait changes to spee
This letter outlines an estimation framework to detect changes in the intended gait speed of an assistive exoskeleton user during walking. A twice-per-step estimation strategy, termed a Buttressed Kalman Filter, is presented to leverage changes in foot placement to infer changes in desired speed. Th
This paper outlines steps toward a framework for model-based user intent detection to enable fluent human-robot interaction in assistive exoskeletons. An interacting multi-model (IMM) estimation scheme is presented to address state estimation for lower-extremity exoskeletons and to handle their hybr…