Pre-Print American Society of Biomechanics - Annual Meeting 2015 ADAPTIVE GAIN FOR PROPORTIONAL MYOELECTRIC CONTROL OF A ROBOTIC ANKLE EXOSKELETON DURING HUMAN WALKING

There exists a large disconnect between the natural fluid motion of unconstrained human walking and the unnatural, rigid motion of human walking with a robotic exoskeleton. This unnatural movement of walking in a robotic exoskeleton is largely due to poor controller design and can make the motion energetically inefficient for the user [1]. Our research group has been developing techniques to use neural signals from the wearer to directly control exoskeleton actuation timing and amplitude. By using neural signals to control the device we are attempting to alleviate the issues that come with relying on intrinsic mechanical measurements for exoskeleton control.