A lower limb exoskeleton based on recognition of lower limb walking intention

Abstract

Recognition of walking intention and assistance in the load-carrying driver’s walking capability are key challenging areas in lower limb exoskeletons. We present a lower limb exoskeleton called the unmanned technology research centre exoskeleton (UTRCEXO). It recognizes walking intention, including step initiation, step velocity (acceleration and deceleration), and step termination of drivers using only insole-type FSRs and three axis F/T sensors. UTRCEXO recognizes the driver’s intention of step initiation using insole-type FSRs and recognizes the intention of step velocity and step termination using three axis F/T sensors. UTRCEXO makes use of four DC motors, two at each knee and hip joint, to assist the driver. The the driver can carry a 20 kg payload comfortably with muscle activity reduction. In this paper, we evaluate muscle activity reduction in walking drivers equipped with UTRCEXO carrying a 20 kg payload.