Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses
Zheng, Enhao; Wang, Qining
2017
发表期刊IEEE Transactions on Neural Systems and Rehabilitation Engineering
期号2页码:161-170
摘要Recent advancement of robotic transtibial prostheses
can restore human ankle dynamics in different terrains. Automatic
locomotion transitions of the prosthesis guarantee the amputee's
safety and smooth motion. In this paper, we present a noncontact
capacitive sensing-based approach for recognizing locomotion
transitions of amputees with robotic transtibial prostheses. The
proposed sensing system is designed with flexible printed circuit
boards which solves the walking instability brought by our
previous system when using robotic prosthesis and improves the
recognition performance. Six transtibial amputees were recruited
and performed tasks of ten locomotion transitions with the robotic
prosthesis that we recently constructed. The capacitive sensing
system was integrated on the prosthesis and worked in combination
with on-prosthesis mechanical sensors. With the cascaded
classification method, the proposed system achieved 95.8% average
recognition accuracy by support vector machine (SVM)
classifier and 94.9% accuracy by quadratic discriminant analysis
(QDA) classifier. It could accurately recognize the upcoming
locomotion modes from the stance phase of the transition steps.
In addition, we proved that adding capacitance signals could
significantly reduce recognition errors of the robotic prosthesis in
locomotion transition tasks. Our study suggests that the fusion of
capacitive sensing system and mechanical sensors is a promising
alternative for controlling the robotic transtibial prosthesis.
关键词Capacitive Sensing Locomotion Transition Recognition Robotic Prosthesis Transtibial Amputees
语种英语
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21742
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
作者单位College of Engineering, Peking University
推荐引用方式
GB/T 7714
Zheng, Enhao,Wang, Qining. Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017(2):161-170.
APA Zheng, Enhao,&Wang, Qining.(2017).Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses.IEEE Transactions on Neural Systems and Rehabilitation Engineering(2),161-170.
MLA Zheng, Enhao,et al."Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses".IEEE Transactions on Neural Systems and Rehabilitation Engineering .2(2017):161-170.
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