Adjustable IMU Mounts for the Hip-Knee Exoskeleton

An IMU measures motion in its own coordinate frame. If its starting position or orientation changes between participants, the gait data includes variation from setup rather than movement. These mounts aim to place each sensor at a comparable relative location and initial orientation across body sizes. More consistent inputs may improve cross-participant model transfer, but that benefit still needs to be measured.

Shin

The shin mount adjusts along the leg and side to side around the cuff. A strap secures the cuff through the knee-exoskeleton attachment, while a foam interface increases friction to limit movement during gait. The design is still being developed and tested for fit, slip, and placement repeatability.

Thigh

A captured strap guide moves vertically and laterally within the thigh-cuff opening. Bolts on the opposite side bound its vertical travel, and the strap wraps around the thigh and cuff to hold the selected position. Version 2 adds an updated cuff and a dedicated retention part; gait testing is still required.

Pelvis

The completed adjustable pelvis mount translates along the back-plate structure and locks the IMU relative to the exoskeleton. A static version remains as a comparison baseline. Testing will determine whether the added adjustment improves placement repeatability enough to justify the extra mechanism.