This study presents a speech-based motion planning strategy (SBMP) developed for lower limb exoskeletons to facilitate safe and compliant human-robot interaction. A speech processing system, finite state machine, and central pattern generator are the building blocks of the proposed strategy for online planning of the exoskeleton's trajectory. According to experimental evaluations, this speech-processing system achieved low levels of word and intent errors. Regarding locomotion, the completion time for users with voice commands was 54% faster than that using a mobile app interface. With the proposed SBMP, users are able to maintain their postural stability with both hands-free. This supports its use as an effective motion planning method for the assistance and rehabilitation of individuals with lower-limb impairments.

翻译：本研究提出了一种面向下肢外骨骼的基于语音的运动规划策略（SBMP），旨在实现安全、柔顺的人机交互。该策略以语音处理系统、有限状态机和中央模式发生器为基本模块，用于在线规划外骨骼的运动轨迹。实验评估表明，该语音处理系统实现了较低的词汇错误率和意图错误率。在运动步态方面，使用语音指令的受试者完成任务的时间比使用移动应用界面的受试者快54%。采用所提出的SBMP方法，用户能够在双手空闲状态下保持身体姿态稳定性。这证实了该方法可作为下肢功能障碍患者辅助与康复的有效运动规划手段。