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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/i504h7qv89kss7ailwyx680lr
- Original: https://arxiv.org/abs/2610.27271

## Summary

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.