University of Twente Student Theses
Creating environmental awareness for the Symbitron exoskeleton using a depth camera : A step towards using the Symbitron exoskeleton without external support
Post, Anke (2024) Creating environmental awareness for the Symbitron exoskeleton using a depth camera : A step towards using the Symbitron exoskeleton without external support.
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| Abstract: | To enable paraplegics to regain their mobility, a powered lower-limb exoskeleton such as the Symbitron exoskeleton can be utilized. This research focuses on the design and evaluation of a framework that provides the exoskeleton with environmental awareness using a depth camera. To accomplish this, a V-SLAM (Visual Simultaneous Localization and Mapping) framework is proposed. The framework incorporates the open-source RTAB-Map and OctoMap libraries, which were selected after comparison and evaluation of existing open-source libraries for V-SLAM. The performance of the proposed framework was tested and evaluated using a benchmark recorded with two depth cameras, placed on the sternum and the knee. The benchmark contains depth and RGB images, as well as temporally and spatially synchronized ground-truth pose data, recorded using motion capture. Evaluation of the framework with the benchmark indicated that positioning the depth camera on the sternum yielded favorable results for accurate V-SLAM. While the results obtained with the benchmark demonstrate the effectiveness of the developed framework in performing V-SLAM, the odometry estimation can potentially benefit from adding enhancements such as data fusion to the framework. Moreover, future implementation on the Symbitron exoskeleton should include the integration of a trajectory generator, allowing exoskeleton users to walk without external support. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 50 technical science in general |
| Programme: | Biomedical Engineering MSc (66226) |
| Link to this item: | https://purl.utwente.nl/essays/98638 |
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