A Review on Wearable Inertial Tracking based Human Gait Analysis and Control Strategies of Lower-Limb Exoskeletons

摘要

In recent years, human motion tracking based on inertial sensors took a huge leap forward as a cost effective enabling technology. It overcomes the limitations of existing tracking systems such as magnetic, mechanical and optical in terms of power, cost and size. It has high impact in the areas of human performance assessment and human-robot interaction as illustrated in gait analysis and assistive devices control. It can be used as a method for alternate gait analysis overcoming the limitations of motion capture systems which are restricted to indoor environment. Also, human motion intention estimation is made possible with the help of these devices and is useful in exoskeleton control. This paper surveys the role of inertial based systems in human gait analysis and lower limb exoskeleton control. In the later part of the paper, state-of-the-art control strategies designed for lower limb exoskeletons are reviewed that show the application of human motion sensing.