A Study of Relationship between Link Length Configuration and Foot Positioning Accuracy of Leg Extender Exoskeleton

Abstract

We developed a leg extender exoskeleton that extends the leg length by 40 cm. We also propose a linearity index to evaluate the feeling of operating the exoskeleton. We developed an evaluation method for the foot positioning accuracy of the leg extender exoskeleton. This method uses three types of target marker trajectories to consider various walking situations.  We performed an actual experiment with four types of link configurations. The foot positioning accuracy was measured and evaluated according to the linearity index of each exoskeleton. The results showed that an exoskeleton with good linearity provides better foot positioning accuracy.