Attitude and joint angle estimation between two consecutive segments for lower limb exoskeletons

Abstract

This research project aims to develop a system for attitude estimation in consecutive lower limbs segments, and therefore the joint angle between them. Such estimates are focused on lower limb exoskeletons. To achieve these goals, will be used methodologies based on Kalman filter subject to Markovian jumps for attitude estimation, with modeling of joint restriction between segments. At the end of this project, it is expected to obtain a system that is capable of providing angular estimates of attitude and joint of a pair of segments. For laboratory tests, an exoskeleton of lower limbs will be used, which was developed by the Robotic Rehabilitation Laboratory of the São Carlos School of Engineering, called Exoskeleton for Rehabilitation with Transparent Active Orthoses (EXO-TAO).