Abstract
In this paper we introduce a wearable sensory system for motion intention estimation and control of exoskeleton robot. The system comprises wearable inertial motion sensors and shoe-embedded force sensors. We utilize an instrumented cane as a part of the interface between the user and the robot. The instrumented cane is used together with body worn sensors, and provides assistance for start, stop and continuous walking. We verified the function of the proposed method and the developed wearable system through gait trials on treadmill and on ground. The achievement contributes to finding an intuitive and feasible interface between human and robot. It also contributes to the technology for cognitively assisted locomotion, which helps the locomotion of physically challenged people.
