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Sensors 2014, 14(1), 1705-1722; doi:10.3390/s140101705

Wearable Gait Measurement System with an Instrumented Cane for Exoskeleton Control

1,* , 2
1 Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba 305-8577, Japan 2 Center for Cybernics Research, University of Tsukuba, Tsukuba 305-8577, Japan 3 Japan Science and Technology Agency, Saitama 332-0012, Japan
* Author to whom correspondence should be addressed.
Received: 15 November 2013 / Revised: 31 December 2013 / Accepted: 31 December 2013 / Published: 17 January 2014
(This article belongs to the Special Issue Wearable Gait Sensors)
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In this research 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. The system utilizes an instrumented cane as a part of the interface between the user and the robot. The cane reflects the motion of upper limbs, and is used in terms of human inter-limb synergies. The developed control system provides assisted motion in coherence with the motion of other unassisted limbs. The system utilizes the instrumented cane 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 through wearable gait sensors for practical use of assistive technology. It also contributes to the technology for cognitively assisted locomotion, which helps the locomotion of physically challenged people.
Keywords: wearable sensors; motion intention; exoskeleton robot; hemiplegia; cane wearable sensors; motion intention; exoskeleton robot; hemiplegia; cane
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Hassan, M.; Kadone, H.; Suzuki, K.; Sankai, Y. Wearable Gait Measurement System with an Instrumented Cane for Exoskeleton Control. Sensors 2014, 14, 1705-1722.

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