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XoNav: Using a Hip Exoskeleton as a Personalized Haptic Interface for Assisted Navigation

XoNav is a four-actuator hip exoskeleton that renders navigation commands directly as haptic cues at the hip joints, using sagittal-plane actuators to render an Advance cue and two-level Braking cues, and frontal-plane actuators to render two-level Steering cues. A bilateral thigh-mounted IMU setup combined with an LSTM gait-state classifier synchronizes cues with the wearer's gait and suppresses them while standing; the classifier achieved 95.2-97.9% recall on unseen users, with mean detection delays of 38.6 ms and 63.1 ms for stance-to-swing and swing-to-stance transitions, respectively.

Part of the event: XoNav Hip Exoskeleton Enables Haptic Navigation Cues

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