IMU-Based Exoskeleton Control: Torso Movements and AI

Marius Leonard Olar, Monica Leba, Andreea Cristina Ionică and Victor Triohin

A chapter in Proceedings of the ENTRENOVA - ENTerprise REsearch InNOVAtion Conference, Hybrid Conference, Dubrovnik, Croatia, 5-7 September, 2024, 2025, pp 289-298 from IRENET - Society for Advancing Innovation and Research in Economy, Zagreb

Abstract: This study introduces a new control system for an upper limb exoskeleton, leveraging Inertial Measurement Unit (IMU) sensors placed on the user's trunk. The system employs two distinct control methodologies to enhance the exoskeleton's responsiveness and accuracy in assisting arm movements. The first method utilizes the torso's motion, integrating IMU data to calculate the arm's movement limits synchronously with the torso, ensuring the exoskeleton's movements are in harmony with the user's natural motion patterns. The second method adopts a more advanced approach, employing a neural network to predict the user's intended arm movement based on the torso's dynamics. This predictive model allows for a more intuitive interaction between the user and the exoskeleton, potentially improving the efficiency and satisfaction in its use. By comparing these methods, the paper aims to evaluate their effectiveness in providing a seamless and natural extension of the human body through the exoskeleton, offering insights into future developments for assistive technologies.

Keywords: Exoskeleton; IMU sensors; Torso movement; Neural network; Control system; Movement prediction; Assistive technology (search for similar items in EconPapers)
JEL-codes: L63 L86 (search for similar items in EconPapers)
Date: 2025
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Persistent link: https://EconPapers.repec.org/RePEc:zbw:entr24:317967

DOI: 10.54820/entrenova-2024-0024

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