A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System

Investigating User Volitional Influence on Step Length in Powered Exoskeleton Designed for Users with SCI

Volitional movement from users of assistive lower limb exoskeletons may be exploited to increase the controlled variability in the movements of a human-exoskeleton system. This may in turn allow these devices to handle the variability encountered in the terrain of everyday life. This study aimed to investigate the degree to which users can volitionally influence step length, when using an assistive exoskeleton designed for users with spinal cord injury (SCI) running a fixed robotic exoskeleton trajectory. An experiment was conducted to investigate the accessible range of step lengths when five able-bodied participants and one participant with SCI piloted a user-balanced exoskeleton. Participants were asked to take steps as large as possible ("large") and as small as possible ("small"), with the able-bodied individuals asked to minimise use of their leg muscles, with step length of each step measured. Surface electromyography (sEMG) data were collected on major leg muscles of the able-bodied subjects to monitor their muscle activities with a novel processing method introduced to facilitate discussion in the context of users with SCI. The results demonstrate that a user can intentionally manipulate the resulting step length, with every participant having significantly different large and small step sizes (p < 0.05). However, large variations were observed between individuals in terms of absolute step lengths and difference between large and small steps. Moreover, the range of step length (normalised by the leg length) ranged from 0.237 to 0.375 for the able-bodied subjects and 0.245 for the individual with SCI. Although positive correlation was present between the sEMG data and resulting step lengths, the result was not statistically significant (p > 0.05).