Toward the control of ascend and descend of a powered lower limb orthosis

This paper is proposed to design a lower limb exoskeleton system for the people who can still generate electromyogram signal. While ascending and descending, the motion can be divided into stance phase and swing phase. According to foot pressure and electromyogram of rectus femoris and tibialis anterior, we establish an algorithm to estimate motion intention while ascending and descending. The exoskeleton is actuated by four flat EC motors on the wearer's knees and hips. Through the control of motors, it sends torque to wearer's knees and hips in order to enhance the strength while ascending and descending.