Gait Event Detection System for the Control of Lower Limb Exoskeleton

Abstract

Locomotion is an essential aspect of day-to-day human life. Advancement in wearable robotic technology enhances capabilities for maintaining the locomotion of people with disabilities. The exoskeleton, being one of them, meets the growing demands in the rehabilitation industry and enhanced locomotion requirements. Depending on the need and disability, various types of exoskeletons are designed. The design aspect of the exoskeleton includes various sensor systems, mechanical structure, mechanism, and control strategy used. Detection of gait events depends on the disability of the wearer and is very critical to decide the appropriate gait event that needs to be activated either by powering the actuators actively or passively. These interfaces should have a minimum possible response time to control the exoskeleton system to follow the wearer's gait. This review paper describes various sensing system incorporated in the control of various exoskeleton systems for the detection of gait events.