Portal de Periódicos da CAPES

Test Method for Exoskeleton Locomotion on Irregular Terrains: Testbed Design and Construction

2021; Springer International Publishing; Linguagem: Inglês

10.1007/978-3-030-69547-7_104

2195-3562

Adriana Torres-Pardo, David Pinto-Fernández, Elkyn Alexander Belalcazar-Bolaños, José L. Pons, Juan C. Moreno, Diego Torricelli,

Muscle activation and electromyography studies

This work aims to define a benchmarking scenario for the evaluation of the performance of lower limb exoskeletons while walking on irregular terrains. We designed a modular testbed that can be easily configured to replicate a wide range of uneven terrains. The testbed, based on several design criteria such as modularity, reproducibility, robustness and low-cost, aims to be a concrete solution to researchers and developers to test their systems according to a standardized method. The long term goal is to provide means to demonstrate the ability of new exoskeletal systems to operate safely and reliably in realistic out-of-the-lab conditions.