Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications

doi:10.1109/TNSRE.2019.2934525

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

	Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications
	Zheng, Enhao1 ; Wang, Qining 2,3,4; Qiao, Hong1,5
发表期刊	IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
ISSN	1534-4320
	2019-09-01
卷号	27 期号:9 页码:1836-1845
通讯作者	Wang, Qining(qiningwang@pku.edu.cn)
摘要	Locomotion 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.
关键词	Locomotion mode recognition inter-day and inter-session automatic training robotic transtibial prosthesis
DOI	10.1109/TNSRE.2019.2934525
关键词[WOS]	AMPUTEES ; STRATEGY ; DESIGN
收录类别	SCI
语种	英语
资助项目	National 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] ; National 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]
项目资助者	National Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS研究方向	Engineering ; Rehabilitation
WOS类目	Engineering, Biomedical ; Rehabilitation
WOS记录号	WOS:000485690400019
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	人机融合
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/27282
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
通讯作者	Wang, Qining
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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.