Wearable Hip Assistive Robot & Gait Assessment

Goal

Daily assistive robots can do more than provide torque assistance: their onboard sensing can also reveal how a person is walking. At KIST, I worked on estimating gait trajectories and clinically relevant gait parameters from wearable-robot and insole sensors.

Learning-based gait estimation

I developed deep-learning models that fuse robot and wearable sensing to estimate foot trajectories and gait parameters for treadmill and overground walking.

Experiments

I helped run motion-capture experiments with healthy participants and sarcopenia patients, including treadmill, overground, and outdoor data collection.

Publication direction

This work contributed to later research on daily-life sarcopenia identification using real-time gait assessment with a wearable hip assistive robot.