Wearable inertial measurement units (IMUs) provide a practical and privacy-preserving sensing modality for lower-limb activity recognition in assistive robotics, rehabilitation monitoring, and movement analysis. However, many IMUbased human activity recognition methods model multichannel sensor streams mainly as flat t...
Alvarado Morales Lisbeth Katherine, Qi-Fei Wu, Guoyu Zuo et al.· IEEE/ASME International Conf...· 0 citations
Traditional terrain recognition for lower-limb exoskeletons relies on inertial measurement units (IMUs). These sensors respond only after the user has physically engaged with new terrain, causing inherent assistive torque lag. Visual perception can anticipate terrain ahead, but suffers from lighting sensitivity and pro...
This paper presents a lightweight unilateral knee exoskeleton integrated with a dual-inertial-measurement-unit (IMU)-based activity-adaptive knee torque estimation method for daily locomotion assistance. The proposed exoskeleton adopts a compact unilateral thigh-shank structure, a knee-side actuation module, modular hu...
