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For the controller of wearable lower-limb assistive devices, quantitative understanding of human locomotion serves as the basis for human motion intent recognition and joint-level motion control. Traditionally, the required gait data are obtained in gait research laboratories, utilizing marker-based optical motion capture systems. Despite the high accuracy of measurement, marker-based systems are largely limited to laboratory environments, making it nearly impossible to collect the desired gait data in real-world daily-living scenarios. To address this problem, the authors propose a novel exoskeleton-based gait data collection system, which provides the capability of conducting independent measurement of lower limb movement without the needmore »
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 »