Trajectory generation for stair interaction in exoskeletons
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12158Keywords:
Avances en medición y procesamiento de señales, Tecnología de asistencia e ingeniería de rehabilitación, Tecnología Robótica, Robots móviles, Análisis e interpretación de bioseñalesAbstract
In the field of lower-limb exoskeletons, extensive research has been conducted on controlling devices to follow reference trajectories similar to human gait. However, to increase functionality and adaptability to different environments, it is necessary to design control algorithms for navigating non-planar surfaces. This article addresses the problem of step interaction, specifically, a method has been developed to generate trajectories that can be implemented in the Exo-H3 exoskeleton from Technaid to ascend, descend backward, and descend forward on a variable-height step. The system generates target trajectories that allow these movements to be performed from recorded reference trajectories. Its validity has been verified for 18 step heights, ranging from 15 to 32 centimeters, collecting data from a 180-centimeter-tall subject.
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Copyright (c) 2025 Jorge Gómez Aguilar, Álvaro Gutiérrez
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