Identifying invariant gait metrics for exoskeleton assistance

Graham Henderson, Daniel Gordon, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Exoskeletons have the potential to increase the independence and quality of life of patients with walking pathologies. To do this effectively, the exoskeleton requires a control paradigm that can determine the timing and magnitude of assistance that is suitable for the user’s task and environment. This paper searches for a metric that can be optimised, enabling assistance to be applied without compromising the energy efficiency and stability of gait. Spatial and temporal, kinematic, kinetic, and other novel dynamic stability metrics were compared across three different assistance scenarios and five different walking contexts. Results demonstrated that three metrics: step width, medial-lateral centre of pressure displacement, and medial-lateral margin of stability were the most invariant. This result suggests dynamic stability metrics are optimised in human gait and therefore are potentially suitable metrics for optimising in an exoskeleton control paradigm.
Original languageEnglish
Title of host publicationProc. IEEE Intl. Conf. on Robotics and Biomimetics (ROBIO '17)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-5386-3742-5
ISBN (Print)978-1-5386-3743-2
Publication statusPublished - 26 Mar 2018
EventIntl. Conf. on Robotics and Biomimetics (ROBIO '17) - Macau, China
Duration: 5 Dec 20178 Dec 2017


ConferenceIntl. Conf. on Robotics and Biomimetics (ROBIO '17)
Internet address


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