Human-robot cooperation is vital for optimising powered assist of lower limb exoskeletons (LLEs). Robotic capacity to intelligently adapt human force, however, demands a fusion data from exoskeleton and user state smooth human-robot synergy. Muscle activity, mapped through electromyography (EMG) or mechanomyography (MMG) widely acknowledged as usable sensor input that precedes the onset joint t...

This paper presents preliminary results of segmental angular momenta analysis in human walking subjected to lateral pelvic perturbations. The results show that angular momenta of specific segments, right upper leg and right foot in the study, were mostly affected by the applied perturbations. This finding will be further utilized to develop a perturbation detection method for monitoring stabili...

Abstract The wearable lower limb exoskeleton is a typical human-in-loop human–robot coupled system, which conducts natural and close cooperation with the human by recognizing locomotion timely. Requiring subject-specific training main challenge of existing approaches, most methods have problem insufficient recognition. This paper proposes an integral subject-adaptive real-time Locomotion Mode R...

Lower limb rehabilitation exoskeleton robots (LLRERs) play an important role in lower training and assistance walking for patients with movement disorders. In order to reduce eliminate adverse effects on the accuracy of human motion gait tracking during LLRER, which is caused by gravity friction, periodic ground shock force, human–exoskeleton interaction this paper proposes a feedforward–feedba...

The integration of the brain-machine interface (BMI) and the exoskeleton technique has the potential to promote the understanding of fundamental principles in neural control of movement, as well as to motivate a new generation of rehabilitation or power augmentation exoskeleton systems. In this paper, the kinematic design and development of a 6-DOF upper limb exoskeleton for a BMI study is pres...