Intention Recgonition For Exoskeleton

Lower limb exoskeletons enable paraplegics to regain some degree of locomotion ability, i.e., standing and walking. As a human machine system, the Human Machine Interface (HMI) play a import role. The ideal lower limb exoskeleton for paralyzed people can move as the intention of pilot. For achieving it, many kinds of HMI systems are designed. However for many exoskeletons manual operation is still necessary for controlling the exoskeleton. In this paper, we designed and implement an intention recognition method which is able to detect human motion intention. With the detected intention, exoskeleton can be controlled automatically as will of pilot. In this method, Zero Moment Point (ZMP) is chosen as one of features of human intention and an online machine learning algorithm(online SVM) is used to learn intention online. Experiments in real systems show the effectiveness and advantages of our proposed method.