Effects of Personalization on Gait-State Tracking Performance Using Extended Kalman Filters
José A. Montes-Pérez,Gray Cortright Thomas,Robert D. Gregg,José A. Montes-Pérez,Gray Cortright Thomas,Robert D. Gregg
Emerging partial-assistance exoskeletons can enhance able-bodied performance and aid people with patho-logical gait or age-related immobility. However, every person walks differently, which makes it difficult to directly compute assistance torques from joint kinematics. Gait-state estimation-based controllers use phase (normalized stride time) and task variables (e.g., stride length and ground inc...
