Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses
	Zheng, Enhao; Wang, Qining
发表期刊	IEEE Transactions on Neural Systems and Rehabilitation Engineering
	2017
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	多模态人工智能系统全国重点实验室_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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
TNSRE2016.pdf（1648KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览下载