Investigation of Human Locomotion With a Powered Lower Limb Exoskeleton

In this chapter, the lower limb exoskeleton is studied. The roles of the exoskeleton both as a measurement device for studying human locomotion and as an assistive device that restores the human ability to walk are discussed. Particular attention is given to the investigation of the role of the pressure sensors and other devices that allow us to measure normal reactions at the contact points with the supporting surface and also detect these contacts. The way the geometry of the supporting surface affects the sensors system of the robot is considered, and new designs for feet sensor system are proposed. These include elastic foot, a foot with actuated sensors, and a foot with spring-damper systems.