Understanding contact.
Building the tools to measure it.

My contribution

I developed a time-of-flight (ToF) sensing system and threshold-based gait-phase classification. The journal system uses sensors near the heel and forefoot, mounted in an overshoe-type module.

What the study showed

A preliminary study with one healthy participant compared detected gait phases with pressure-based measurements. The system retained distance information during swing. The evaluation was limited to preliminary indoor walking, rather than a clinical or multi-terrain study.

My contribution

I developed an FSR-based crutch-force module and pneumatic plantar-pressure modules, fabricated and instrumented modified WalkON Suit IV hardware, and conducted the shock-absorption experiments.

The force-measurement hardware also supported later projects; reusing it is distinct from developing a new sensor.

Reported outcome

The 2023 journal study reported a 23% reduction in mean peak heel ground-reaction force with the absorber and designed gait versus no absorber, in a single-participant experiment.

The journal article extends the 2021 conference study.

My contribution

I designed, built, and integrated a foot–ground distance module, including a custom PCB and ToF sensors, into Angel Legs M20 for initial-contact load-modulation research.

Current status

A follow-up manuscript, FDL: Foot–Ground Distance Layer for Initial-Contact Load Modulation in a Lower-Limb Exoskeleton, is in preparation.

My contribution

I formed the team, wrote the proposal, secured funding, and led a project on user- and task-aware exoskeleton-dimension control.

I adapted force-sensing hardware I had developed to build the data-collection system.

Working across groups

My work focused on the robot and data collection. A collaborating research group performed the machine learning using the collected data.

Systems integration

I integrated VICON, an AMTI treadmill, Delsys EMG, Xsens, and custom sensors for wearable-robot evaluation.

Analysis and modeling

I developed MATLAB analysis software and OpenSim human–robot models. This work complements my experience with embedded systems, sensor electronics, and mechanical fabrication.

My contribution

I assembled and debugged the team’s exoskeletons and integrated pressure-sensing foot hardware used for human-intention detection.

Team outcome

The team won gold and bronze medals in the CYBATHLON 2020 Powered Exoskeleton Race. The accompanying overview article describes the broader WalkON Suit system.