Table 1 Modelling procedure for an activity on an existing exoskeleton (hardware is given)
step no. | name | description |
|---|---|---|
1 | list sensors | list all sensor information available for the exoskeleton controller |
2 | contact | determine and characterize the different environment contact situations in the activity |
3 | detect | decide how to detect the transition in environment contact using the available sensor data |
4 | model | model the dynamic models of each different environment contact situation and their transitions |