Faster detection of step initiation for the unmanned technology research center exoskeleton (UTRCEXO) with insole-type force sensing resistor (FSR)

We were able to detect step initiation for the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) with a new approach. As detecting step initiation is an important factor for the exoskeleton to assist the operator's movement as immediately as possible, many studies have been done to detect step initiation faster by using heel-off time, or toe-off time. In this paper, we detect step initiation faster than other approaches with, in particular, vertical ground reaction forces. Also, we present an insole-type force sensing resistor that can be applied to the UTRCEXO to get similar events, like ground reaction force events, and can detect step initiation. With our new approach, the UTRCEXO can not only detect step initiation faster, but also assist the operator's movement more quickly.