Deep Rehabilitation Gait Learning for Modeling Knee Joints of Lower-limb Exoskeleton
文献类型：会议论文
| 作者 | Du-Xin Liu, Wenbin Du, Xinyu Wu, Can Wang, and Yu Qiao |
| 出版日期 | 2016 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议地点 | Qingdao, China, December 3-7, 2018 |
| 英文摘要 | Lower-limb exoskeleton is widely used for assisting walk in rehabilitation field. One key problem for exoskeleton control is to model and predict the suitable gait trajectories of wearer. In this paper, we propose a Deep Rehabilitation Gait Learning (DRGL) for modeling the knee joints of lower-limb exoskeleton, which firstly leverage Long-Short Term Memory (LSTM) to learn the inherent spatial-temporal correlations of gait features. With DRGL, the abnormal knee joint trajectories can be predicted and corrected based on wearer’s other joints. This learning based method avoids gait analysis by building complex kinematic and dynamic models for human body and exoskeleton. More importantly, the new recovery gait pattern is not only in accordance with the healthy walking gait, but also including wearer’s own gait profile. To verify the effectiveness of DRGL, a new recovery gait is obtained from DRGL based on ”pathological gait” which is obtained by a healthy subject imitating knee injury. Experiments demonstrate that the subject can walk normally with SIAT lower-limb exoskeleton in new recovery gait pattern. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10149]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Du-Xin Liu, Wenbin Du, Xinyu Wu, Can Wang, and Yu Qiao. Deep Rehabilitation Gait Learning for Modeling Knee Joints of Lower-limb Exoskeleton[C]. 见:IEEE International Conference on Robotics and Biomimetics. Qingdao, China, December 3-7, 2018. |
入库方式： OAI收割
来源：深圳先进技术研究院
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