Inertial Odometry for Lower Limb Exoskeleton Control

This paper examines the development of a tracking system for a lower limb exoskeleton using inertial odometry techniques. The system utilizes inertial sensors, such as accelerometers and gyroscopes, to monitor and manage the device's movements precisely and efficiently. The Robot Operating System (ROS) framework has been employed for system integration and management, facilitating modular development and communication between various components. The proposed approach aims to improve the stability, precision, and reliability of the exoskeleton control system, representing a significant advancement in wearable robotics and offering potential applications in motor rehabilitation and recovery.