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Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton
Recognizing locomotion modes is a crucial step in controlling lower-limb exoskeletons/orthoses. Our study proposed a fuzzy-logic-based locomotion mode/transition recognition approach that uses the onrobot inertial sensors for a hip joint exoskeleton (active pelvic orthosis). The method outputs the r...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Hindawi
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8289602/ https://www.ncbi.nlm.nih.gov/pubmed/34335872 http://dx.doi.org/10.1155/2021/6673018 |
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author | Du, Gang Zeng, Jinchen Gong, Cheng Zheng, Enhao |
author_facet | Du, Gang Zeng, Jinchen Gong, Cheng Zheng, Enhao |
author_sort | Du, Gang |
collection | PubMed |
description | Recognizing locomotion modes is a crucial step in controlling lower-limb exoskeletons/orthoses. Our study proposed a fuzzy-logic-based locomotion mode/transition recognition approach that uses the onrobot inertial sensors for a hip joint exoskeleton (active pelvic orthosis). The method outputs the recognition decisions at each extreme point of the hip joint angles purely relying on the integrated inertial sensors. Compared with the related studies, our approach enables calibrations and recognition without additional sensors on the feet. We validated the method by measuring four locomotion modes and eight locomotion transitions on three able-bodied subjects wearing an active pelvic orthosis (APO). The average recognition accuracy was 92.46% for intrasubject crossvalidation and 93.16% for intersubject crossvalidation. The average time delay during the transitions was 1897.9 ms (28.95% one gait cycle). The results were at the same level as the related studies. On the other side, the study is limited in the small sample size of the subjects, and the results are preliminary. Future efforts will be paid on more extensive evaluations in practical applications. |
format | Online Article Text |
id | pubmed-8289602 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Hindawi |
record_format | MEDLINE/PubMed |
spelling | pubmed-82896022021-07-31 Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton Du, Gang Zeng, Jinchen Gong, Cheng Zheng, Enhao Appl Bionics Biomech Research Article Recognizing locomotion modes is a crucial step in controlling lower-limb exoskeletons/orthoses. Our study proposed a fuzzy-logic-based locomotion mode/transition recognition approach that uses the onrobot inertial sensors for a hip joint exoskeleton (active pelvic orthosis). The method outputs the recognition decisions at each extreme point of the hip joint angles purely relying on the integrated inertial sensors. Compared with the related studies, our approach enables calibrations and recognition without additional sensors on the feet. We validated the method by measuring four locomotion modes and eight locomotion transitions on three able-bodied subjects wearing an active pelvic orthosis (APO). The average recognition accuracy was 92.46% for intrasubject crossvalidation and 93.16% for intersubject crossvalidation. The average time delay during the transitions was 1897.9 ms (28.95% one gait cycle). The results were at the same level as the related studies. On the other side, the study is limited in the small sample size of the subjects, and the results are preliminary. Future efforts will be paid on more extensive evaluations in practical applications. Hindawi 2021-05-24 /pmc/articles/PMC8289602/ /pubmed/34335872 http://dx.doi.org/10.1155/2021/6673018 Text en Copyright © 2021 Gang Du et al. https://creativecommons.org/licenses/by/4.0/This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
spellingShingle | Research Article Du, Gang Zeng, Jinchen Gong, Cheng Zheng, Enhao Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title | Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title_full | Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title_fullStr | Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title_full_unstemmed | Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title_short | Locomotion Mode Recognition with Inertial Signals for Hip Joint Exoskeleton |
title_sort | locomotion mode recognition with inertial signals for hip joint exoskeleton |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8289602/ https://www.ncbi.nlm.nih.gov/pubmed/34335872 http://dx.doi.org/10.1155/2021/6673018 |
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