Aimed at problem of movement coordinating of exoskeleton with its wearer

a human gait sensing system is designed for aquistition and prediction of lower limbs’ motion state of the wearer. The system uses six attitude sensors called MTI—30 to acquire human gait data. ARM microcontrollers known as STM32F407 are used as data computing units in the system. Acquired gait data are resolved

predicted and transmitted. Predict rotational motion of human legs by nonlinear time series analysis Takens algorithm. The result of experiments show that system has stable function and can accurately acquire and predict human gait data of human legs

the predicted result is stable and reliable

which provides reliable reference data for exoskeleton controller.