Control system for a mobility aid

摘要

Disclosed is a method for controlling an exoskeleton worn by a user and having one or more actuators associated with at least a foot member of the exoskeleton corresponding to a foot of the user. The method is performed by adjusting a landing foot instruction associated with the foot member upon receiving data indicative of a change in terrain slope during a landing foot instruction. The adjustment includes moving one or more actuators associated with the foot member of the exoskeleton to pivot the foot member towards a maximum allowable slope angle; and terminating movement of the one or more actuators associated with the foot member upon receiving input indicative of alignment of the foot member with the slope.