CASIA OpenIR
Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications
Zheng, Enhao1; Wang, Qining2,3,4; Qiao, Hong1,5
Source PublicationIEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
ISSN1534-4320
2019-09-01
Volume27Issue:9Pages:1836-1845
Corresponding AuthorWang, Qining(qiningwang@pku.edu.cn)
AbstractLocomotion mode recognition across multiple sessions and days is an indispensable step towards the practical use of the robotic transtibial prosthesis. In this study, we proposed an adaptive recognition strategy to against the time-varying features of on-prosthesis mechanical signals in inter-session and inter-day recognition tasks. The strategy was designed with an automatic training algorithm which could update the classifiers with the data of the most recent completed gait cycles to seize the changes of the features brought by external disturbances. After implementation, we measured multiple experimental sessions on six transtibial amputees with intervals from a few hours (inter-session experiment) to several months (108 days at most in inter-day experiment). In each session, they performed five locomotion modes and eight locomotion transitions using the robotic prosthesis. Between each two experimental sessions, the subjects were required to doff the robotic prosthesis (including the socket). The proposed adaptive recognition algorithm significantly improved recognition accuracies in both experiments. In inter-session experiment, the proposed method increased the recognition accuracy from 89.3% to 92.8% than previous non-adaptive recognition method. In inter-day experiments, it increased the recognition accuracy from 60% to 88.8%. If taking three modes (level walking, stair ascending/descending) and four locomotion transitions into calculation, the recognizer produced an accuracy up to 96.6% (swing phase) for static mode and an accuracy of 96.9% for locomotion transitions on inter-day tasks without manual intervenes. Compared with state-of-the-art, our study extends the ability of the robotic transtibial prosthesis in locomotion mode recognition across multiple sessions and days. Future efforts are worth being paid in this direction to get more promising results.
KeywordLocomotion mode recognition inter-day and inter-session automatic training robotic transtibial prosthesis
DOI10.1109/TNSRE.2019.2934525
WOS KeywordAMPUTEES ; STRATEGY ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational Key R&D Program of China[2018YFB1307302] ; National Natural Science Foundation of China[61703400] ; National Natural Science Foundation of China[91648207] ; Beijing Natural Science Foundation[L172052] ; Beijing Natural Science Foundation[L182001]
Funding OrganizationNational Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS Research AreaEngineering ; Rehabilitation
WOS SubjectEngineering, Biomedical ; Rehabilitation
WOS IDWOS:000485690400019
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/27282
Collection中国科学院自动化研究所
Corresponding AuthorWang, Qining
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100864, Peoples R China
2.Peking Univ, Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China
3.Peking Univ, BIC ESAT, Beijing 100871, Peoples R China
4.Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing 100871, Peoples R China
5.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zheng, Enhao,Wang, Qining,Qiao, Hong. Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications[J]. IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,2019,27(9):1836-1845.
APA Zheng, Enhao,Wang, Qining,&Qiao, Hong.(2019).Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications.IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING,27(9),1836-1845.
MLA Zheng, Enhao,et al."Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications".IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 27.9(2019):1836-1845.
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