Mohammed Sohif, Muhammad Hidayat and Jasni, Farahiyah and Husman, Muhammad Afif and Nordin, Nor Hidayati Diyana (2026) Cross-limb kinematic mapping for lower-limb exoskeleton control: a phase-locking value analysis. In: 2026 10th International Conference on Mechatronics Engineering (ICOM), 8-9 September 2026, Kuala Lumpur, Malaysia.
![[img]](https://irep.iium.edu.my/style/images/fileicons/application_pdf.png) |
PDF
- Published Version
Restricted to Registered users only Download (1MB) | Request a copy |
Abstract
Existing lower-limb exoskeleton control systems rely almost exclusively on signals derived from the lower limbs, so their performance degrades when those signals are compromised by neurological or musculoskeletal impairment. This paper evaluates upper-limb kinematics as an alternative proxy control signal by quantifying the phase relationship between simultaneous contralateral upper- and lower-limb joint motion during normal walking. Three healthy male participants completed three treadmill walking trials each, during which full-body kinematics were recorded with a 41-marker optical motion capture system referenced to gait events detected by force-sensitive resistor (FSR) insoles, and processed in OpenSim. Four contralateral joint pairs were examined using Phase-Locking Value (PLV) analysis with surrogate testing, trial-to-trial reliability, leave-one-subject-out (LOSO) generalisation, and lead-lag cross-correlation. All pairs showed phase-locking significantly above surrogate chance levels (PLV 0.79–0.96). The hip rotation–arm rotation pair showed the best trial-to-trial reliability; hip flexion–arm flexion and knee angle–elbow flexion generalised best across participants; and only the hip adduction–arm adduction pair consistently showed the upper limb leading the lower limb. These pilot, proof-of-concept findings offer qualified support for using upper-limb kinematics to control lower-limb exoskeletons when lower-limb control is impaired, with the suitability of a given joint pair depending on the intended application.
| Item Type: | Proceeding Paper (Plenary Papers) |
|---|---|
| Uncontrolled Keywords: | cross-limb kinematic mapping, lower-limb exoskeleton control, phase-locking value, interlimb coordination, gait analysis, OpenSim |
| Subjects: | T Technology > T Technology (General) |
| Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): | Kulliyyah of Engineering > Department of Mechatronics Engineering Kulliyyah of Engineering |
| Depositing User: | Dr Farahiyah Jasni |
| Date Deposited: | 27 Oct 2026 10:36 |
| Last Update: | 27 Oct 2026 10:36 |
| Queue Number: | 2026-10-Q5812 |
| URI: | http://irep.iium.edu.my/id/eprint/132227 |
| Indexed In: | Google Scholar |
Actions (login required)
 |
View Item |