Why Do Exoskeletons Work Better at Faster Walking Speeds?

The study highlights how TBC controllers fail to adapt to users, leading to inconsistent metrics at slower speeds. Co-adaptation with smarter controllers improves exoskeleton performance.

Authors:

(1) Mohammad Shushtari, Department of Mechanical and Mechatronics Engineering, University of Waterloo ([email protected]);

(2) Julia Foellmer, Mechanics and Ocean Engineering Department, Hamburg University of Technology ([email protected]);

(3) Sanjay Krishna Gouda, Department of Mechanical and Mechatronics Engineering, University of Waterloo and Toronto Rehabilitation Institute (KITE), University Health Network ([email protected]).

Table of Links

Abstract and 1 Introduction

2 Results

2.1 Initial Processed Data for a Representative Participant

2.2 Overall Performance Analysis

2.3 Interaction Portrait Analysis

2.4 Individual Adaptation Strategy

3 Discussion

3.1 Human Adaptation

3.2 Importance of IP Analysis

4 Conclusion

5 Methods

5.1 Feedforward Control Strategies

5.2 Experimental Setup

5.3 Experimental Protocol ...