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Vi-P3: Sesión de pósteres III Lugar: Zona pósteres | |
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Design and implementation of step trajectories for the lower limb exoskeleton Exo-H3 1: ETSI Telecomunicaciónn, Universidad Politécnica de Madrid; 2: ETSI Informáticos, Universidad Politécnica de Madrid In the field of lower-limb exoskeletons, extensive research has been conducted on controlling devices to follow reference trajectories similar to human gait. However, to increase functionality and adaptability, it is necessary to design control algorithms for navigating non-planar surfaces. This article addresses the problem of step interaction. Specifically, a method has been developed to generate trajectories on lower-limb exoskeletons to ascend, descend backward, and descend forward on a variable-height step. The system generates target trajectories that allow these movements to be performed from recorded reference trajectories. Its validity has been verified for 18 step heights, ranging from 15 to 32 centimeters, collecting data from a 180-centimeter-tall subject.
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