Fig. 1: Lightweight knee exoskeletons and motion task and data collection. | npj Robotics

Fig. 1: Lightweight knee exoskeletons and motion task and data collection.

From: Transformer-based multitask assist control from first-person view image and user’s kinematic information for exoskeleton robots

Fig. 1

a Motion tasks composed of squatting down to pick up an object on the floor and climbing a step. Each motion was asked to be conducted at a different place, and the participants walked there. b Knee exoskeletons. This robot consists of a carbon fiber structure and features a highly responsive joint driven by a pneumatic artificial muscle actuator. c Sensors for a model of assist action sequence and their measurement locations. d EMG locations for measuring muscle load around the knee joint in a real-time exoskeleton robot control experiment. These EMGs are also used for the EMG-based methods.

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