The development and testing of a Human Machine Interface for a mobile medical exoskeleton

摘要

Current advancements in exoskeleton robotics allow those with mobility disorders to walk again. The user conveys his or her desired motion to the exoskeleton using a Human Machine Interface (HMI). This allows the users to stand up, walk, and sit down independently. Existing HMIs require unnatural motions that inhibit the gait. The HMI developed here uses natural gestures while ensuring the safety of the user. This method utilizes a unique sensor suite and a finite state automaton to allow a spinal cord injury patient to easily use an exoskeleton for mobility.