Slope CoM Assistance System
A system for human gait assistance on slopes using STM32 and motor-driven winch.
Designed an experimental testbed to deliver regulated traction (up to 200 N) with <5% force control error.
- Developed STM32-based embedded control architecture.
- Estimated 20–30% reduction in metabolic cost.
Status & Publication
A manuscript documenting the system architecture and metabolic analysis is currently in preparation for IEEE RA-L. Full results and high-resolution demonstration videos will be released following the submission.