Tread: A Visuo-Inertial Framework for Terrain and Locomotion Context-Aware Gait-Phase and Speed Estimation in Wearable Robotics

Debadrata Sarkar, Akash Bachhar, Aman Arora

A wearable assistive robot must continuously estimate terrain, locomotion mode, gait phase, and walking speed. These quantities are commonly addressed by separate, terrain-specific…