In this research, we propose a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predicting the future plantar force and walking status.
By using Long Short-Term Memory and a fully-connected network, the plantar force can be predicted using only data measured by inertial measurement unit sensors, not only during the walking period but also at the start and end of walking.
From the predicted plantar force, the walking status and the desired assistance timing can also be determined.
By considering the time-delay and sending the control commands beforehand, the exoskeleton can be moved precisely on the desired assistance timing.
M. Ding, M. Nagashima, S.-G. Cho, J. Takamatsu, and T. Ogasawara, “Control of
walking assist exoskeleton with time-delay based on the prediction of plantar
force,” IEEE Access, vol. 8, pp. 138642–138651, 2020.