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Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds

Human gait phase estimation has been studied in the field of robotics due to its importance for controlling wearable devices (e.g., prostheses or exoskeletons) in a synchronized manner with the user. As data-driven approaches have recently risen in the field, researchers have attempted to estimate t...

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Detalles Bibliográficos
Autores principales: Hong, Woolim, Lee, Jinwon, Hur, Pilwon
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9005637/
https://www.ncbi.nlm.nih.gov/pubmed/35431853
http://dx.doi.org/10.3389/fnbot.2022.807826
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author Hong, Woolim
Lee, Jinwon
Hur, Pilwon
author_facet Hong, Woolim
Lee, Jinwon
Hur, Pilwon
author_sort Hong, Woolim
collection PubMed
description Human gait phase estimation has been studied in the field of robotics due to its importance for controlling wearable devices (e.g., prostheses or exoskeletons) in a synchronized manner with the user. As data-driven approaches have recently risen in the field, researchers have attempted to estimate the user gait phase using a learning-based method. Thigh and torso information have been widely utilized in estimating the human gait phase for wearable devices. Torso information, however, is known to have high variability, specifically in slow walking, and its effect on gait phase estimation has not been studied. In this study, we quantified torso variability and investigated how the torso information affects the gait phase estimation result at various walking speeds. We obtained three different trained models (i.e., general, slow, and normal-fast models) using long short-term memory (LSTM). These models were compared to identify the effect of torso information at different walking speeds. In addition, the ablation study was performed to identify the isolated effect of the torso on the gait phase estimation. As a result, when the torso segment's angular velocity was used with thigh information, the accuracy of gait phase estimation was increased, while the torso segment's angular position had no apparent effect on the accuracy. This study suggests that the torso segment's angular velocity enhances human gait phase estimation when used together with the thigh information despite its known variability.
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spelling pubmed-90056372022-04-14 Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds Hong, Woolim Lee, Jinwon Hur, Pilwon Front Neurorobot Neuroscience Human gait phase estimation has been studied in the field of robotics due to its importance for controlling wearable devices (e.g., prostheses or exoskeletons) in a synchronized manner with the user. As data-driven approaches have recently risen in the field, researchers have attempted to estimate the user gait phase using a learning-based method. Thigh and torso information have been widely utilized in estimating the human gait phase for wearable devices. Torso information, however, is known to have high variability, specifically in slow walking, and its effect on gait phase estimation has not been studied. In this study, we quantified torso variability and investigated how the torso information affects the gait phase estimation result at various walking speeds. We obtained three different trained models (i.e., general, slow, and normal-fast models) using long short-term memory (LSTM). These models were compared to identify the effect of torso information at different walking speeds. In addition, the ablation study was performed to identify the isolated effect of the torso on the gait phase estimation. As a result, when the torso segment's angular velocity was used with thigh information, the accuracy of gait phase estimation was increased, while the torso segment's angular position had no apparent effect on the accuracy. This study suggests that the torso segment's angular velocity enhances human gait phase estimation when used together with the thigh information despite its known variability. Frontiers Media S.A. 2022-03-30 /pmc/articles/PMC9005637/ /pubmed/35431853 http://dx.doi.org/10.3389/fnbot.2022.807826 Text en Copyright © 2022 Hong, Lee and Hur. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Neuroscience
Hong, Woolim
Lee, Jinwon
Hur, Pilwon
Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title_full Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title_fullStr Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title_full_unstemmed Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title_short Effect of Torso Kinematics on Gait Phase Estimation at Different Walking Speeds
title_sort effect of torso kinematics on gait phase estimation at different walking speeds
topic Neuroscience
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9005637/
https://www.ncbi.nlm.nih.gov/pubmed/35431853
http://dx.doi.org/10.3389/fnbot.2022.807826
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