Published October 20, 2025
| Version v1
Conference paper
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Egocentric Vision Module for Adaptive Gait Planning in Lower-Limb Exoskeletons
Description
This work presents an egocentric vision module for adaptive
gait planning in lower-limb exoskeletons. By combining
exoskeleton-mounted and head-mounted cameras, the system
builds a unified 3D map of the environment, enabling early
obstacle detection and robust terrain classification. An
Environment-Adaptive Gait Planning (EAGP) system computes
safe footpaths, while augmented reality feedback provides
intuitive visualization for the user. A dedicated dataset
with step and corridor walking scenarios was collected to
support development and evaluation.