Abstract
Walking without vision requires timely, unambiguous guidance, yet many wearable aids encode directions as audio or vibrotactile signals that users must translate into movement. We present XoNav, a four-actuator hip exoskeleton that renders guidance cues directly at the hip joints. It renders an Advance cue and two-level Braking cues through sagittal-plane actuators and two-level Steering cues through frontal-plane actuators. A bilateral LSTM-based gait-state classifier uses two thigh-mounted IMUs to identify gait states, enabling haptic cues to be delivered in coordination with the wearer's gait while suppressing them during standing. The classifier generalized to unseen users with recalls of 95.2-97.9%, with mean detection delays of 38.6 and 63.1 ms for stance-to-swing and swing-to-stance transitions, respectively. Constrained human-in-the-loop Bayesian optimization personalized Braking for minimum resistance and Steering for maximum comfort while ensuring detectability and safety. All participants reliably distinguished between grades of their personalized cues and the firmest Braking cue remained below 53% of the safety limit. In blindfolded Wizard-of-Oz navigation trials along three paths, the participants kept 98.8% of the walked distance within a 0.75 m wide passage, with a 4.9% increase in mean progression speed per trial. A body-worn camera, RTAB-Map and Nav2 further enabled a feasibility study of autonomous navigation and detours around previously unmapped obstacles.
Abstract (translated)
URL
https://arxiv.org/abs/2610.27271
