Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot
文献类型：期刊论文
| 作者 | Xinyu Wu; Duxin Liu; Ming Liu; Chunjie Chen; Huiwen Guo |
| 刊名 | IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
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| 出版日期 | 2018 |
| 文献子类 | 期刊论文 |
| 英文摘要 | The development of sharing technology makes it possible for expensive lower limb exoskeleton robots to be extensively employed. However, due to the uniqueness of gait pattern, it is challenging for lower limb exoskeleton robot to adapt to different wearers’ gait patterns. Studies have shown that the gait pattern is affected by many physical factors. This paper proposes an individualized gait pattern generation (IGPG) method for sharing lower limb exoskeleton (SLEX) robot. First, the gait sequences are parameterized to extract gait features. Then, the Gaussian process regression with automatic relevance determination is used to establish the mapping relationships between the body parameters and the gait features, and the weights of each body parameters on gait pattern are also given. The gait features of an unknown subject can be predicted based on the training set. Finally, the individualized gait pattern is reconstructed by autoencoder neural network and scaling process based on predicted gait features. The experimental results show that the gait pattern predicted by IGPG is very similar to the subject’s actual trajectory and has been successfully applied on the SLEX robot. With the help of sharing technology, the training set will be increased, and the prediction accuracy of individualized gait pattern will also be improved. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/13675]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 推荐引用方式 GB/T 7714 | Xinyu Wu,Duxin Liu,Ming Liu,et al. Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2018. |
| APA | Xinyu Wu,Duxin Liu,Ming Liu,Chunjie Chen,&Huiwen Guo.(2018).Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING. |
| MLA | Xinyu Wu,et al."Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2018). |
入库方式： OAI收割
来源：深圳先进技术研究院
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