Publication on Predicting Intended Leg Motion for Robotic Prosthetics and Exoskeletons

Congratulations Mounir Boudali (SIRIS/ACFR PhD alumni) whose paper “Predicting Transitioning Walking Gaits: Hip and Knee Joint Trajectories from the Motion of Walking Canes”, co-authored with Peter Sinclair and Ian Manchester, has just appeared in IEEE Transactions on Neural Systems and Rehabilitation Engineering.

The research motivation is to be able to control robotic prosthetic legs and exoskeletons for a wide range of tasks. In the paper, we show that measurement of the motion of walking canes can predict leg motion during transitioning gaits, such as flat walking to walking up a flight of stairs.


Sydney Institute for Robotics and Intelligent Systems