Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device

@article{Kalinowska2019DataDrivenGS,
  title={Data-Driven Gait Segmentation for Walking Assistance in a Lower-Limb Assistive Device},
  author={Aleksandra Kalinowska and Thomas A. Berrueta and Adam Zoss and Todd D. Murphey},
  journal={2019 International Conference on Robotics and Automation (ICRA)},
  year={2019},
  pages={1390-1396}
}
Hybrid systems, such as bipedal walkers, are challenging to control because of discontinuities in their nonlinear dynamics. Little can be predicted about the systems’ evolution without modeling the guard conditions that govern transitions between hybrid modes, so even systems with reliable state sensing can be difficult to control. We propose an algorithm that allows for determining the hybrid mode of a system in real-time using data-driven analysis. The algorithm is used with data-driven… Expand
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