Figure 6
From: Clinical trials of GPE-based muscle support algorithm for robotic hip exoskeleton: a pilot study
(a) Robotic hip exoskeleton (RHE). The encoder sensor measures the user’s kinematics during walking. (b) The insole sensor was developed from Digitsole. The DSPod calculates the user’s foot kinematics in real-time. The original insole contained a brand logo, which has been removed for publication to avoid trademark issues. (c) The Photoplethysmogram (PPG) sensor measures the heart rate.
