Gait characteristics for a lower limb exoskeleton implementing the precedence walking assistance mechanism

Abstract

In this paper, we analyse human gait patterns, including knee and hip joint torques and muscle activities, during step initiation phase and continuous walking phase. Additionally, we present a lower limb exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) implementing a precedence walking assistance mechanism based on the gait characteristics. The operator equipped with the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) walks with a 15 kg load at 3.3 km/h step velocity.