Gait phase recognition for lower-limb exoskeleton with only joint angular sensors
文献类型：期刊论文
| 作者 | Liu, Du-Xin1,2,3; Wu, Xinyu1,2,4; Du, Wenbin1,2,3; Wang, Can1,2; Xu, Tiantian1,2 |
| 刊名 | Sensors
 |
| 出版日期 | 2016-10-01 |
| 卷号 | 16期号:10页码:21 |
| 关键词 | Gait phase classification Gait phase recognition Lower-limb exoskeleton |
| ISSN号 | 1424-8220 |
| DOI | 10.3390/s16101579 |
| 通讯作者 | Wu, xinyu(xy.wu@siat.ac.cn) |
| 英文摘要 | Gait phase is widely used for gait trajectory generation, gait control and gait evaluation on lower-limb exoskeletons. so far, a variety of methods have been developed to identify the gait phase for lower-limb exoskeletons. angular sensors on lower-limb exoskeletons are essential for joint closed-loop controlling; however, other types of sensors, such as plantar pressure, attitude or inertial measurement unit, are not indispensable. therefore, to make full use of existing sensors, we propose a novel gait phase recognition method for lower-limb exoskeletons using only joint angular sensors. the method consists of two procedures. firstly, the gait deviation distances during walking are calculated and classified by fisher's linear discriminant method, and one gait cycle is divided into eight gait phases. the validity of the classification results is also verified based on large gait samples. secondly, we build a gait phase recognition model based on multilayer perceptron and train it with the phase-labeled gait data. the experimental result of cross-validation shows that the model has a 94.45% average correct rate of set (crs) and an 87.22% average correct rate of phase (crp) on the testing set, and it can predict the gait phase accurately. the novel method avoids installing additional sensors on the exoskeleton or human body and simplifies the sensory system of the lower-limb exoskeleton. |
| WOS关键词 | STRATEGIES ; ORTHOSES ; NETWORK ; WALKING ; ROBOTS |
| WOS研究方向 | Chemistry ; Electrochemistry ; Instruments & Instrumentation |
| WOS类目 | Chemistry, Analytical ; Electrochemistry ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000386131600032 |
| 出版者 | MDPI AG |
| URI标识 | http://www.irgrid.ac.cn/handle/1471x/2374997 |
| 专题 | 中国科学院大学 |
| 通讯作者 | Wu, Xinyu |
| 作者单位 | 1.Chinese Acad Sci, Shenzhen Inst Adv Technol, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen 518055, Peoples R China 2.Chinese Acad Sci, Key Lab Human Machine Intelligence Synergy Syst, Shenzhen 518055, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 4.Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Hong Kong, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Du-Xin,Wu, Xinyu,Du, Wenbin,et al. Gait phase recognition for lower-limb exoskeleton with only joint angular sensors[J]. Sensors,2016,16(10):21. |
| APA | Liu, Du-Xin,Wu, Xinyu,Du, Wenbin,Wang, Can,&Xu, Tiantian.(2016).Gait phase recognition for lower-limb exoskeleton with only joint angular sensors.Sensors,16(10),21. |
| MLA | Liu, Du-Xin,et al."Gait phase recognition for lower-limb exoskeleton with only joint angular sensors".Sensors 16.10(2016):21. |
入库方式： iSwitch采集
来源：中国科学院大学
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