The classification of lower limb gait phase is very important for the control exoskeleton robots. In order to enable determine and provide appropriate assistance wearer, we propose a compound network based on CNN-BiLSTM. method uses data from inertial measurement units placed leg pressure sensor arrays sole as inputs model. convolutional neural (CNN) used obtain local key features data, then bi...

In a clinical environment for rehabilitation therapy, one exoskeleton is usually shared by multiple patients. If the exoskeleton has a rigid structure which is actuated to mobilize a patient, it will be challenging to guarantee these on-site adjustments can make the rigid exoskeleton fit each patient kinematically perfectly. This paper proposes to design an exoskeleton using compliant continuum...