Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain

• Published in: IEEE transactions on robotics Vol. 39; no. 3; pp. 2170 - 2182
• Main Authors: Medrano, Roberto Leo, Thomas, Gray Cortright, Keais, Connor G., Rouse, Elliott J., Gregg, Robert D.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: 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

Positive biomechanical outcomes have been reported with lower limb exoskeletons in laboratory settings, but these devices have difficulty delivering appropriate assistance in synchrony with human gait as the task or rate of phase progression change in real-world environments. This article presents a...