Lower-limb exoskeletons have the potential to enhance rehabilitation [1], assist in walking with gait impairments [2], reduce the metabolic cost of normal [3] and load-bearing walking [4], improve stability [5] and probe interesting questions about human locomotion [6]. The ankle produces larger peak torques and performs more positive work than either the hip or the knee during locomotion [7], ...

To recognize the user's motion intention, brain-machine interfaces (BMI) usually decode movements from cortical activity to control exoskeletons and neuroprostheses for daily activities. The aim of this paper is to investigate whether self-induced variations of the electroencephalogram (EEG) can be useful as control signals for an upper-limb exoskeleton developed by us. A BMI based on event-rel...

Limited research has been done on exoskeletons to enable faster movements of the lower extremities. An exoskeleton’s mechanism can actually hinder agility by adding weight, inertia and friction to the legs; compensating inertia through control is particularly difficult due to instability issues. The added inertia will reduce the natural frequency of the legs, probably leading to lower step freq...

This work presents a control system for exoskeletons that utilizes electrical signals from the muscles as the main means of information transportation between the human operator and the exoskeleton. Those signals are picked up from the skin on top of selected muscles and reflect the activation of the observed muscle. They are evaluated by a sophisticated but simplified biomechanical model of th...

For the carrying lower extreme exoskeleton system is non-linear and have variable parameters, which is usually subject to external dusturbances. The virtual torque control method is a well-established carrying system control technique, which needs no sensors between the pilot and the human-machine interface, instead, the controller estimates, based on measurements from the exoskeleton suits onl...

In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taking urgent safety action. Two FSR (force-sensitive resistors) sensors are used to measure the assistance force when the user is walking. The sensor ...