Movement assistance device

A computer-readable medium having computer-readable code stored thereon executable by a computer controlling an exoskeleton system, the exoskeleton system having a hip segment, at least one lower limb, and a plurality of sensors for generating signals indicating a current motion and a current arrangement of the exoskeleton system, the at least one lower limb comprising a thigh segment and a shank segment for coupling to a lateral surface of a leg of a user, a first powered joint for providing motion of the thigh segment relative to the hip segment, and a second powered joint providing motion of the shank segment relative to the thigh segment, at least a portion of the plurality of sensors being disposed on the at least one lower limb, the computer-readable code comprising a plurality of instructions causing the computer to perform steps:

• receiving the signals from the plurality of sensors;
• based on the signals, determining a current state of the exoskeleton;
• estimating a location of a center of pressure of a combination of the user and the exoskeleton based on the signals and inertial properties of the user;
• inferring a current intent of the user based on at least the current state of the exoskeleton and a location of the center of pressure relative to at least one reference point for the exoskeleton;
• determining a next state for the exoskeleton based at least on the current state and the current intent;
• and
• generating control signals to cause the exoskeleton to transition to the next state.