Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton

Area of Science:

• Robotics
• Biomechanics
• Human-Computer Interaction

Background:

• Repetitive tasks can cause joint damage.
• Motion assistance exoskeletons require precise sensor-actuator synchronization.
• Near-zero delay is critical for effective gait accompaniment.

Purpose of the Study:

• To integrate Imocap-GIS inertial sensors with a motion assistance exoskeleton.
• To achieve near-zero lag for accurate gait accompaniment.
• To evaluate the efficiency of the integrated system.

Main Methods:

• Utilized Imocap-GIS inertial sensors for lower limb positional data acquisition.
• Implemented a CompactRio system as a high-performance controller.
• Employed Maxon motors and Harmonic drive reducers for exoskeleton joint movement.

Main Results:

• The integrated system achieved motion accompaniment with a delay between 20 and 30 ms.
• The sensor-exoskeleton integration demonstrated high efficiency.
• The system met the initial objective of providing motion assistance.

Conclusions:

• The integration of inertial sensors and an exoskeleton prototype is effective.
• The achieved efficiency is comparable to state-of-the-art systems.
• Further improvements in response lag are possible with complementary systems.