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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...

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Detalles Bibliográficos
Autores principales: Du, Gang, Zeng, Jinchen, Gong, Cheng, Zheng, Enhao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Hindawi 2021
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.
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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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