Extended Data Fig. 2: Speed-adaptive control approach.
From: Personalizing exoskeleton assistance while walking in the real world
a, To calibrate the walking speed estimator, data are collected while the participant walks at several prescribed speeds, each within the range of speeds associated with a set of assistance parameters to be optimized. The measured stride durations and ground-truth speed measurements from those tests are used to fit an affine equation with linear regression. b, The resulting model can then be used to estimate walking speed based on measurements of stride duration alone. c, The speed-adaptive controller relates estimated walking speed to exoskeleton assistance parameters by interpolating between assistance parameters specified at a set of chosen speeds. In this case, there are three sets of optimized parameters corresponding to three different walking speeds.
