System and process for estimation of gait phase for use with a wearable robot

摘要: A wearable robot and method for controlling the wearable robot having at least one leg unit involves:(a) obtaining at least one input signal from at least one encoder tracking a hip joint angle versus time with the at least one encoder attached to the wearable robot and corresponding to the at least one leg unit;(b) windowing the at least one input signal within a window size based on time versus the hip joint angle;(c) decomposing the at least one input signal with a Discrete Wavelet Transform (DWT);(d) identifying at least one gait event in a gait cycle by using the DWT;(e) computing temporal gait parameters based on the at least one gait event;(f) generating an assistive force in the at least one leg unit in response to the temporal gait parameters.