Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis

Abstract

The development of a more rapid detection method for step initiation is a challenging area of research for interaction force elimination in exoskeletons. Several studies have attempted to enable a more rapid detection of step initiation via either the precedence walking assistance mechanism or the shadow walking assistance mechanism. Although the precedence walking assistance mechanism is the fastest for detecting step initiation, this mechanism has limitations, such as low reliability when using bio-signals in further development of the exoskeleton. In this study, we implemented a precedence walking assistance mechanism based on gait analysis in the Unmanned Technology Research Center Exoskeleton without using any bio-signals and were thus able to reduce the interaction force of the operator during the first step.