Step triggering method in motorized exoskeletons

Motorized locomotion assisting exoskeleton devices, have been proposed for assisting people with disabilities to walk or to perform other tasks [1-3]. In addition, enabling a person to walk also imparts therapeutic benefits [4]. A major challenge with such devices is to control the gait (and other movements) in an effective, safe and intuitive manner. It is shown here, how measured ground forces combined with measured tilt angles of the exoskeleton, can be used for that purpose. Also shown, that ground forces alone can trigger steps.