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Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton
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 Title & Authors
Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton
Lim, Dong Hwan; Kim, Wan Soo; Ali, Mian Ashfaq; Han, Chang Soo;
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This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.
Wearable robot sensor;Insole sensor;Gait phase detection;Lower extremity exoskeleton;Center of pressure;
 Cited by
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