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Recent advancements in physical human-robot-human interaction allow people to physically interact with each other through the robotic systems that they are in contact with. This preliminary study explores a potential experimental setup using exoskeleton-mediated interactions for gait training, where a teacher provides haptic guidance to a student. The experimental setup involves haptically coupling the hip and knee joints of pilot users wearing lower-limb exoskeletons, without visual feedback on the desired gait trajectory for the student. Initial observations suggest that while the student can potentially learn a new gait pattern through physical cues alone, several challenges were noted.

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Exoskeleton-Mediated Physical Teacher-Student Interaction for Gait Training: A Pilot Study

  • 会议论文

  • 发表日期：

    2025年

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  • Emek Barış Küçüktabak,
  • Matthew R. Short,
  • Lorenzo Vianello,
  • Clément Lhoste,
  • Kevin M. Lynch,
  • Jose L. Pons

摘要

Recent advancements in physical human-robot-human interaction allow people to physically interact with each other through the robotic systems that they are in contact with. This preliminary study explores a potential experimental setup using exoskeleton-mediated interactions for gait training, where a teacher provides haptic guidance to a student. The experimental setup involves haptically coupling the hip and knee joints of pilot users wearing lower-limb exoskeletons, without visual feedback on the desired gait trajectory for the student. Initial observations suggest that while the student can potentially learn a new gait pattern through physical cues alone, several challenges were noted.