Development of vision-based terrain recognition method for lower limb exoskeleton for outdoor environments

• Main Author: Gupta, Paluk
• Other Authors: Ang Wei Tech
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Computer and Information Science; Engineering; Physics; Terrain recognition; Lower limb exoskeleton; Outdoor environments; Deep learning; Convolutional neural networks (CNN); 3D point cloud data; Depth camera; ZED camera; Vision-based systems; Mobility assistance; Image processing; Depth inpainting; Assistive technology; Machine learning; Terrain classification; Adaptive mobility; Exoskeleton technology; Environmental adaptation; Real-time processing
• Online Access: https://hdl.handle.net/10356/177580
• Institution: Nanyang Technological University

This report details the journey made in creating an improved vision-based terrain recognition system for a lower limb exoskeleton. This robotic prosthesis helps people move around by navigating indoor and outdoor terrains by giving them torque assistance and leg support. It aids those with disabilit...