ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy
Zeynep Özge Orhan,Milad Shafiee,Vincent Juillard,Joel Coelho Oliveira,Auke Ijspeert,Mohamed Bouri,Zeynep Özge Orhan,Milad Shafiee,Vincent Juillard,Joel Coelho Oliveira,Auke Ijspeert,Mohamed Bouri
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimization of step duration and position in response to external forces. We map the step duration and position to a human-like foot trajectory, which i...
