Abstract
While exoskeletons for paraplegic users are used nowadays only in laboratory environments for therapy, their use in less orderly environments or for climbing stairs is still troublesome for operators. One of the factors is the high step length variance. In this paper, the analysis of the influence of exoskeleton parameters calibration inaccuracies on the sagittal step length error in regard to the different dimensions and programmed step lengths is performed on CIE Exoskeleton kinematic model. Results show that the exoskeleton parameters calibration inaccuracies have a significant influence on the step length error. The exoskeleton segments lengths, have to be measured with at least millimeter accuracy, and special care is advised in case of the rigidity of the back segment of the exoskeleton.
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Kabaciński, R., Kowalski, M., Kaczmarek, P. (2017). Influence of Exoskeleton Parameters Calibration Inaccuracies on the Step Length Error. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_32
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DOI: https://doi.org/10.1007/978-3-319-54042-9_32
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