Integration of Inertial Sensors in a Lower Limb Robotic Exoskeleton

John Calle-Siguencia, Mauro Callejas-Cuervo, Sebastián García-Reino

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which con-stitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted. The experimental results show that the motion accompaniment exhibits a delay of between 20 and 30 ms, and consequently, it may be stated that the integration between the exoskeleton and the sensors achieves a high efficiency. In this work, the integration between inertial sensors and an exoskeleton prototype has been proposed, where it is evi-dent that the integration met the initial objective. In addition, the integration between the exoskele-ton and IMOCAP is among the highest efficiency ranges of similar systems that are currently being developed, and the response lag that was obtained could be improved by means of the incorpora-tion of complementary systems.

Original languageEnglish
Article number4559
Issue number12
StatePublished - 1 Jun 2022

Bibliographical note

Funding Information:
Funding: This study was funded by the Universidad Politécnica Salesiana de Ecuador and Universidad Pedagógica y Tecnológica de Colombia, and the APC was funded by the Universidad Pedagógica y Tecnológica de Colombia (project number SGI 3303).

Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.


  • actuators
  • exoskeleton
  • Imocap-GIS
  • inertial sensors
  • lower limb
  • motion cycle
  • UDP protocol


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