Walking Intent Detection Algorithm for Paraplegic Patients Using a Robotic Exoskeleton Walking Assistant with Crutches

This paper deals with a walking intent detection algorithm for paraplegic patients using a robotic exoskeleton walking assistant with crutches. User intent detection is one of the most important factors for a robotic exoskeleton to recognize a user's intent regarding robot operation and in order to conduct proper operation. For a robotic exoskeleton walking assistant, walking intent detection means that the robot recognizes the best time to start walking behaviors and which behavior should be executed from the user's intent. To enable this detection, an algorithm derived from a finite Moore Automaton for Robot Behavior (MARB) has been developed. Also, a walking stability criterion model is presented for use in the proposed algorithm as a trigger signal for walking. The proposed algorithm and the walking stability criterion modeling were verified using the robotic exoskeleton walking assistant, ROBIN.