An ensemble of gait-phase estimators serves as an uncertainty detector that switches an ankle exoskeleton from assisting to unpowered when it encounters out-of-distribution movements.
Measuring Trust for Exoskeleton Systems
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abstract
Wearable robotic systems are a class of robots that have a tight coupling between human and robot movements. Similar to non-wearable robots, it is important to measure the trust a person has that the robot can support achieving the desired goals. While some measures of trust may apply to all potential robotic roles, there are key distinctions between wearable and non-wearable robotic systems. In this paper, we considered the dimensions and sub-dimensions of trust, with example attributes defined for exoskeleton applications. As the research community comes together to discuss measures of trust, it will be important to consider how the selected measures support interpreting trust along different dimensions for the variety of robotic systems that are emerging in the field in a way that leads to actionable outcomes.
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Uncertainty-Aware Ankle Exoskeleton Control
An ensemble of gait-phase estimators serves as an uncertainty detector that switches an ankle exoskeleton from assisting to unpowered when it encounters out-of-distribution movements.