Approach to motion control of an exoskeleton in “verticalization-to-walking” regime utilizing pressure sensors

This paper discusses a lower limb exoskeleton designed for executing sit-to-stand motion and walking. The exoskeleton is has an active foot comprising pressure sensors and range-finders. In the paper a control technology based on the use of information from the mechanism's sensor system, in particular sensors mounted on the foot is proposed. The work proposes a method for switching between the motion modes and presents experimental data.