Stereo-based Terrain Parameters Estimation for Lower Limb Exoskeleton

Miao, Yiqi; Wang, Shaoping; Miao, Yinan; An, Mailing; Wang, Xingjian

doi:10.1109/iciea51954.2021.9516267

Cited by 1 publication

(2 citation statements)

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“…For ramp detection, ramps are typically abstracted as planes with a certain angle relative to the ground, which have distinct geometric features. Their geometric parameters can be easily obtained without deep learning methods [75][76][77]. Therefore, there are currently no specific datasets available for ramp detection.…”

Section: Related Datasetsmentioning

confidence: 99%

“…However, direct plane fitting in the segmented point cloud was computationally intensive due to the large amount of point cloud data. Therefore, some works [75,77] calculate the ramp slope by computing the projection or cross-section of the point cloud in the sagittal plane of the human body. For example, Xue [75] used the point cloud within the range of −0.3 m to 0.3 m along the x-axis to generate a binary image in the sagittal plane.…”

Section: Ramp Detectionmentioning

confidence: 99%

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Review of Vision-Based Environmental Perception for Lower-Limb Exoskeleton Robots

Wang,

Pei,

Fan

et al. 2024

Biomimetics

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The exoskeleton robot is a wearable electromechanical device inspired by animal exoskeletons. It combines technologies such as sensing, control, information, and mobile computing, enhancing human physical abilities and assisting in rehabilitation training. In recent years, with the development of visual sensors and deep learning, the environmental perception of exoskeletons has drawn widespread attention in the industry. Environmental perception can provide exoskeletons with a certain level of autonomous perception and decision-making ability, enhance their stability and safety in complex environments, and improve the human–machine–environment interaction loop. This paper provides a review of environmental perception and its related technologies of lower-limb exoskeleton robots. First, we briefly introduce the visual sensors and control system. Second, we analyze and summarize the key technologies of environmental perception, including related datasets, detection of critical terrains, and environment-oriented adaptive gait planning. Finally, we analyze the current factors limiting the development of exoskeleton environmental perception and propose future directions.

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Section: Related Datasetsmentioning

confidence: 99%

Section: Ramp Detectionmentioning

confidence: 99%