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[Submitted on 19 Oct 2026] Title:XoNav: An Exoskeleton as a Personalized Haptic Interface for Assisted Navigation View a PDF of the paper titled XoNav: An Exoskeleton as a Personalized Haptic Interface for Assisted Navigation, by Debadrata Sarkar and 2 other authors View PDF HTML (experimental) Abstract:Walking without vision requires timely, unambiguous guidance, yet many wearable aids encode directions as audio or vibrotactile signals that users must translate into movement. We present XoNav, a four-actuator hip exoskeleton that renders guidance cues directly at the hip joints. It renders an Advance cue and two-level Braking cues through sagittal-plane actuators and two-level Steering cues through frontal-plane actuators. A bilateral LSTM-based gait-state classifier uses two thigh-mounted IMUs to identify gait states, enabling haptic cues to be delivered in coordination with the wearer's gait while suppressing them during standing. The classifier generalized to unseen users with recalls of 95.2-97.9%, with mean detection delays of 38.6 and 63.1 ms for stance-to-swing and swing-to-stance transitions, respectively. Constrained human-in-the-loop Bayesian optimization personalized Braking for minimum resistance and Steering for maximum comfort while ensuring detectability and safety. All participants reliably distinguished between grades of their personalized cues and the firmest Braking cue remained below 53% of the safety limit. In blindfolded Wizard-of-Oz navigation trials along three paths, the participants kept 98.8% of the walked distance within a 0.75 m wide passage, with a 4.9% increase in mean progression speed per trial. A body-worn camera, RTAB-Map and Nav2 further enabled a feasibility study of autonomous navigation and detours around previously unmapped obstacles. Comments: A supplementary video illustrating the XoNav hardware, haptic cues, Wizard-of-Oz trials and autonomous navigation is available at this https URL Subjects: Robotics (cs.RO) Cite as: arXiv:2610.27271 [cs.RO] (or arXiv:2610.27271v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.27271 arXiv-issued DOI via DataCite (pending registration) Submission history From: Aman Arora [view email] [v1] Mon, 19 Oct 2026 20:44:35 UTC (30,985 KB) Full-text links: Access Paper: View a PDF of the paper titled XoNav: An Exoskeleton as a Personalized Haptic Interface for Assisted Navigation, by Debadrata Sarkar and 2 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs References & Citations SciX Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)