Sejong | Biomechatronics Laboratory

We develop a human-in-the-loop, heuristic-based control algorithm to improve gait stability during assisted walking.

The system uses a tendon-driven actuation mechanism to enable responsive assistance for both plantarflexion and eversion of the ankle. By leveraging muscle activity (EMG) and body acceleration, the algorithm adaptively adjusts assistance based on the wearer’s movement.

Pre-clinical experiments demonstrated reduced muscle effort and improved gait stability, highlighting the potential of the proposed approach for rehabilitation and mobility assistance.

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