A symmetric walking cancellation algorithm of a foot-platform locomotion interface

This paper describes a symmetric walking cancellation algorithm for generating smooth motions on the foot-platform locomotion interface. This solves the problem of the asymmetric walking velocity profile of the swing and stance feet in the existing constant-velocity walking cancellation method. The proposed symmetric walking cancellation method cancels the stance foot motion with the opposite swing foot motion. Walking simulations, experiments, and user evaluations showed that the proposed symmetric walking cancellation algorithm is better than the previous constant-velocity algorithm in terms of smoothness, absence of delay, and walking stability.