Design and implementation of step trajectories for the lower limb exoskeleton Exo-H3

• J. Gómez Aguilar ^[1] ; L. Magdalena ^[1] ; A. Gutiérrez ^[1]
  1. [1] Universidad Politécnica de Madrid

     Universidad Politécnica de Madrid

     Madrid, España

     
• Localización: CASEIB 2025. Libro de Actas del XLIII Congreso Anual de la Sociedad Española de Ingeniería Biomédica: Innovando en tecnología para la salud y calidad de vida / David Hernando (ed. lit.), Jesús Lazaro Plaza (ed. lit.), Pablo Laguna Lasaosa (aut.) , Juan Pablo Martínez Cortés (aut.) , 2025, ISBN 978-84-09-80259-3, págs. 781-784
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • In the field of lower-limb exoskeletons, extensive research has been conducted on controlling devices to follow reference trajectories similar to human gait. However, to increase functionality and adaptability, it is necessary to design control algorithms for navigating non-planar surfaces. This article addresses the problem of step interaction. Specifically, a method has been developed to generate trajectories on lower-limb exoskeletons to ascend, descend backward, and descend forward on a variable-height step. The system generates target trajectories that allow these movements to be performed from recorded reference trajectories. Its validity has been verified for 18 step heights, ranging from 15 to 32 centimeters, collecting data from a 180-centimeter-tall subject.