Continuous locomotion mode classification using a robotic hip exoskeleton

Kang, Inseung; Molinaro, Dean D.; Choi, Gayeon; Young, Aaron

doi:10.1109/biorob49111.2020.9224359

Cited by 9 publications

(3 citation statements)

References 27 publications

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“…Exoskeletons with a rigid frame and actuated joints have been studied and commercialized for numerous applications in rehabilitation, walking assistance, and human augmentation (Young and Ferris, 2017 ). In general, these devices have key advantages in adapting to both the environment and user through advanced sensing and artificial intelligence capabilities (Cardona et al, 2020 ; Kang et al, 2020 ; Vélez-Guerrero et al, 2021 ). In addition, hard active devices have been shown to augment human performance in terms of reducing the metabolic cost of ambulation (Mooney et al, 2014 ; Seo et al, 2016 ; Sawicki et al, 2020 ) and joint loading (Weston et al, 2018 ).…”

Section: Useful Exoskeleton Design Features For An Austere Environmentmentioning

confidence: 99%

Exoskeletal solutions to enable mobility with a lower leg fracture in austere environments

Johnson

Young²,

Goldman³

et al. 2023

Wearable Technol.

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The treatment and evacuation of people with lower limb fractures in austere environments presents unique challenges that assistive exoskeletal devices could address. In these dangerous situations, independent mobility for the injured can preserve their vital capabilities so that they can safely evacuate and minimize the need for additional personnel to help. This expert view article discusses how different exoskeleton archetypes could provide independent mobility while satisfying the requisite needs for portability, maintainability, durability, and adaptability to be available and useful within austere environments. The authors also discuss areas of development that would enable exoskeletons to operate more effectively in these scenarios as well as preserve the health of the injured limb so that definitive treatment after evacuation will produce better outcomes.

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Section: Useful Exoskeleton Design Features For An Austere Environmentmentioning

confidence: 99%

Exoskeletal solutions to enable mobility with a lower leg fracture in austere environments

Johnson

Young²,

Goldman³

et al. 2023

Wearable Technol.

View full text Add to dashboard Cite

show abstract

“…the lower limb exoskeleton. In recent years, Young and his colleagues made remarkable progress in NNbased gait phase estimation for multimodal locomotion (Camargo et al, 2021;Kang et al, 2021), which is applied to hip exoskeleton (Kang et al, 2020(Kang et al, , 2021, knee exoskeleton (Lee et al, 2021), and ankle exoskeleton (Shafer et al, 2021). For hip exoskeleton control, they developed a sensor fusion-based NN model to estimate the continuous gait phase in real-time, which can adapt to variable walking speeds ranging from 0.6 to 1.1 m/s (Kang et al, 2021).…”

Section: Gait Phase Estimationmentioning

confidence: 99%

“…Seo et al ( 2019 ) developed a neural network model based on sensor fusion to estimate the gait phase adaptable to dynamic speed in real-time and verified the feasibility of using a machine learning model to accurately estimate the gait phase and improve the controllability of the lower limb exoskeleton. In recent years, Young and his colleagues made remarkable progress in NN-based gait phase estimation for multimodal locomotion (Camargo et al, 2021 ; Kang et al, 2021 ), which is applied to hip exoskeleton (Kang et al, 2020 , 2021 ), knee exoskeleton (Lee et al, 2021 ), and ankle exoskeleton (Shafer et al, 2021 ). For hip exoskeleton control, they developed a sensor fusion-based NN model to estimate the continuous gait phase in real-time, which can adapt to variable walking speeds ranging from 0.6 to 1.1 m/s (Kang et al, 2021 ).…”

Section: Control Strategy Of Robotic Hip Exoskeletonmentioning

confidence: 99%

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Yang

et al. 2022

Wearable Technol.

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The aging population is now a global challenge, and impaired walking ability is a common feature in the elderly. In addition, some occupations such as military and relief workers require extra physical help to perform tasks efficiently. Robotic hip exoskeletons can support ambulatory functions in the elderly and augment human performance in healthy people during normal walking and loaded walking by providing assistive torque. In this review, the current development of robotic hip exoskeletons is presented. In addition, the framework of actuation joints and the high-level control strategy (including the sensors and data collection, the way to recognize gait phase, the algorithms to generate the assist torque) are described. The exoskeleton prototypes proposed by researchers in recent years are organized to benefit the related fields realizing the limitations of the available robotic hip exoskeletons, therefore, this work tends to be an influential factor with a better understanding of the development and state-of-the-art technology.

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Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction

Yang

Huang

et al. 2023

Ann Biomed Eng

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Continuous locomotion mode classification using a robotic hip exoskeleton

Cited by 9 publications

References 27 publications

Exoskeletal solutions to enable mobility with a lower leg fracture in austere environments

Exoskeletal solutions to enable mobility with a lower leg fracture in austere environments

Current developments of robotic hip exoskeleton toward sensing, decision, and actuation: A review

Artificial Neural Network-Based Activities Classification, Gait Phase Estimation, and Prediction

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