Generation of an adaptive ascending step for a lower limb exoskeleton

Assistive exoskeletons are medical devices typically designed to perform repetitive movements. Recent researches highlighted the necessity to endow such devices with perceptual capabilities, in order to perform adaptive movements. This would allow using exoskeletons in everyday activities such as, for example, the ascent of a staircase. This work addresses some of the typical problems related to the motion along a staircase of a lower limb exoskeleton. In particular, the focus will be posed on problems such as the identification of the staircase and the relative position between them and the exoskeleton, the motion planning for the ascending foot and its adaptation to the changes of the torso orientation. The proposed strategies have been experimentally verified and the results are documented through videos.