The current setup at CIAMS laboratory comprises a 4-D ABLE exoskeleton equipped with two force/torque sensors, a Qualisys motion capture system, EMG recording systems (Cometa and Delsys) plus other tools (XSens inertial mesurement unit system, goniometers etc.). This allows to simultaneously record human and robot motion data, a critical step to better understand human-exoskeleton interaction quantitatively and feed control models with those data.
