Weight Distribution Estimation in Lower-Limb Exoskeletons via Deep Learning: Methods

Authors: Clement Lhos, Legs and Walking Lab of Shirley Ryan AbilityLab, Chicago, IL, USA; Emek Barıs¸ Kuc¸uktabak, Legs and Walking Lab of Shirley Ryan AbilityLab, Chicago, IL, USA and Center for Robotics and Biosystems, Northwestern University, Evanston, IL, USA; Lorenzo Vianello, Legs and Walking Lab of Shirley Ryan AbilityLab, Chicago, IL, USA; Lorenzo Amato, Legs and Walking Lab of Shirley Ryan AbilityLab, Chicago, IL, USA and The Biorobotics Institute, Scuola Superiore Sant’Anna,...

Exoskeleton We validated our proposed method on a commercially available lower-limb exoskeleton . The exoskeleton system has four active degrees of freedom at the hip and knee, and two passive DoFs at the ankle . The exoskeleton was modified to include strain gauges to estimate joint torques, and an Inertial Measurement Unit on the backpack to measure the orientation of the trunk .

Exoskeleton A. Exoskeleton We validated our proposed method on a commercially available lower-limb exoskeleton . The exoskeleton system has four active degrees of freedom at the hip and knee, and two passive DoFs at the ankle . The exoskeleton was modified to include strain gauges to estimate joint torques, and an Inertial Measurement Unit on the backpack to measure the orientation of the trunk .

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Weight Distribution Estimation in Lower-Limb Exoskeletons via Deep Learning: IntroductionExplore deep learning for real-time weight distribution estimation in lower-limb exoskeletons, enhancing control without additional sensors.
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