Using Arm Swing Movements to Maintain the Walking State in a Self-Balanced Lower-Limb Exoskeleton
Omar Mounir Alaoui,Fabien Expert,Guillaume Morel,Nathanaël Jarrassé,Omar Mounir Alaoui,Fabien Expert,Guillaume Morel,Nathanaël Jarrassé
This work investigates how arm swing movements measured by Inertial Motion Unit (IMU) sensors can be used to identify and maintain the walking state in a self-balanced lower-limb exoskeleton for medical use. When an exoskeleton is in a dynamical state during gait, short patterns in IMU signals (e.g. a braking movement) can be hard to extract. Therefore, by relying on a threshold-based classifier c...
