A novel design of pressure sensing foot for lower limb exoskeleton

For the purpose of developing a comprehensive set of rehabilitation system, this paper presents a novel design of pressure sensing foot for lower limb exoskeleton. The pressure sensing foot measures plantar pressure and acceleration to give instruction of the contact between human foot and ground and reflects behavior of the wearer. Compared with previous works, the pressure sensing foot described in this paper has compact design as well as reliable structural strength. Its bionic design minimizes the exoskeleton´s impact on the wearer and improves performance of the pressure sensing system during walking. Further details of the mechanical structure and experiment result are described in the paper.