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This paper presents the design and preliminary testing of an instrumented exoskeleton system, which is targeted at collecting gait data of the human locomotion to support the controller development of lower-limb wearable robots. This compact and lightweight device features a unique two-degree-of-freedom joint to minimize the interference to the user movement and a simple yet effective adjustment mechanism to fit subjects at different heights. For the gait measurement, the device incorporates embedded joint goniometers to obtain the knee and ankle positions, and inertial measurement units to obtain three-dimensional kinematic information. Force-sensing resistors are also incorporated into the shoe insole formore »
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available September 1, 2022
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Free, publicly-accessible full text available August 1, 2022
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Free, publicly-accessible full text available August 1, 2022