High-Frequency Terrain Characterization with a Wearable Visual Device

Lower-limb wearable robots require precise terrain characterization for effective motion rehabilitation and physical capability enhancement. While existing methods using 3D visual sensors achieve satisfactory spatial accuracy, their operational frequencies are fundamentally limited by sensor sampling rates, creating a significant mismatch with the high-frequency requirements of robotic control systems. This paper introduces a novel methodology that decouples terrain characterization frequency from sensor sampling constraints, enabling high-frequency measurements compatible with control system demands while preserving measurement accuracy. The proposed method bridges the critical gap between environmental perception and motion control requirements, advancing the practical implementation of responsive wearable robotic systems.