Measurement of human walking on sagittal plane for exoskeleton walking pattern generation

Abstract

Researchers have been worked on exoskeletons and active orthoses since 1960s. There are many competitions on these searches area. One of them is Human Exoskeleton Assistance System Prototype (HEASP) that is developed at Dokuz Eylül University. HEASP's goal is to assist one leg extremity persons. In this paper, the capturing of human walking parameters on sagittal plane is introduced. These parameters used for walking pattern generation and making pattern decision control strategies on HEASP.