Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain - Medrano, Roberto Leo; Thomas, Gray Cortright; Keais, Connor G.; Rouse, Elliott J.; Gregg, Robert D. (IEEE transactions on robotics, 2023)
Keywords: Biomechanics; Control; Controllers; Estimation; exoskeleton; Exoskeletons; Foot; Gait; Kalman filter; Kinematics; Legged locomotion; Locomotion; Machine learning; Mathematical models; phase; Real time; Root-mean-square errors; Task analysis; Terrain; Torque; phase; exoskeleton; control; Kalman filter