{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T02:21:57Z","timestamp":1769826117875,"version":"3.49.0"},"reference-count":50,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2019,10,12]],"date-time":"2019-10-12T00:00:00Z","timestamp":1570838400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["NRF-2013R1A2A2A01069067"],"award-info":[{"award-number":["NRF-2013R1A2A2A01069067"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["NRF-2017M1A3A3A02016507"],"award-info":[{"award-number":["NRF-2017M1A3A3A02016507"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>While controlling a lower limb exoskeleton providing walking assistance to wearers, the walking terrain is an important factor that should be considered for meeting performance and safety requirements. Therefore, we developed a method to estimate the slope and elevation using the contact points between the limb exoskeleton and ground. We used the center of pressure as a contact point on the ground and calculated the location of the contact points on the walking terrain based on kinematic analysis of the exoskeleton. Then, a set of contact points collected from each step during walking was modeled as the plane that represents the surface of the walking terrain through the least-square method. Finally, by comparing the normal vectors of the modeled planes for each step, features of the walking terrain were estimated. We analyzed the estimation accuracy of the proposed method through experiments on level ground, stairs, and a ramp. Classification using the estimated features showed recognition accuracy higher than 95% for all experimental motions. The proposed method approximately analyzed the movement of the exoskeleton on various terrains even though no prior information on the walking terrain was provided. The method can enable exoskeleton systems to actively assist walking in various environments.<\/jats:p>","DOI":"10.3390\/s19204418","type":"journal-article","created":{"date-parts":[[2019,10,14]],"date-time":"2019-10-14T03:54:13Z","timestamp":1571025253000},"page":"4418","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Terrain Feature Estimation Method for a Lower Limb Exoskeleton Using Kinematic Analysis and Center of Pressure"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1383-6029","authenticated-orcid":false,"given":"Myounghoon","family":"Shim","sequence":"first","affiliation":[{"name":"Motion Control Laboratory, Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0343-933X","authenticated-orcid":false,"given":"Jong In","family":"Han","sequence":"additional","affiliation":[{"name":"Motion Control Laboratory, Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}]},{"given":"Ho Seon","family":"Choi","sequence":"additional","affiliation":[{"name":"Motion Control Laboratory, Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}]},{"given":"Seong Min","family":"Ha","sequence":"additional","affiliation":[{"name":"Motion Control Laboratory, Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0471-6092","authenticated-orcid":false,"given":"Jung-Hoon","family":"Kim","sequence":"additional","affiliation":[{"name":"Construction Robot and Automation Laboratory, Department of Civil &amp; Environmental Engineering, Yonsei University, Seoul 03722, Korea"}]},{"given":"Yoon Su","family":"Baek","sequence":"additional","affiliation":[{"name":"Motion Control Laboratory, Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2019,10,12]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Pons, J.L. 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