Therefore, it is necessary to solve the time delay in the fourth exoskeleton system.ġ.2. Meanwhile, the motion signal of the human body is behind the motion intention of the human body. The actuators (typically motors or hydraulic) cause time delay, too. Since the exoskeleton involved in this paper is the fourth method to obtain the human movement intention and the sensor data is collected by the sensor network, it takes some time until the control signal is generated. However, the kinematic sensor requires the human body to drive the exoskeleton movement, inevitably causing the delay of motion intention perception and control. This type of exoskeleton has the characteristics of easy to put on and take off, and the system sensor signal is stable, which makes it become the main research direction of exoskeleton. Many lower limb exoskeletons, such as WEAR, MEBOTX-EXO, and HUALEX, use kinematic information to capture the human body's intention and kinetic information to control the motion of the exoskeleton. Such systems have installed a large number of kinematics and dynamics sensing devices on the exoskeleton and human body to obtain the interaction information of the human body and the motion intention of the human body. The fourth way is to collect human body motion mechanics information to identify human body motion intentions.

Sweat on the surface of the skin often affects the accuracy of the signals, and long-term wear is easy to cause the surface electrode to fall off some teams have developed exoskeletons (e.g., HAL) that recognize the body's intentions based on electromyographic signals. Obtaining surface EMG signals is usually done by attaching electrodes on the skin of the human body, which is also vulnerable to the environment. The third method uses the surface EMG (electromyography) signals of the human body to capture the movement intention of the human body. Such systems are susceptible to interference from the external environment and are not suitable for the wearer to perform multibrain tasks. The second is the use of EEG (electroencephalogram) signals to identify the intention of human movement. However, only relying on some external devices to obtain the motion intention of the human body limits the use scope of the exoskeleton, which makes this kind of exoskeleton often appear in the rehabilitation and correction equipment with fixed gait. The gait of the exoskeleton system is designed, so the wearer can only intervene in limited ways with devices such as buttons or HMI (Human Machine Interface). One classification way is based on the methods of the exoskeleton acquiring the intention of human motion, which can be roughly divided into four categories: The first is preprogrammed. There are many ways to classify active exoskeletons. Introduction to Exoskeleton Classification

Arma 3 exo suit