Knowledge Commons of Institute of Automation,CAS
Continuous Human Gait Phase Estimation Considering Individual Diversity | |
Zhang, Xingxuan1,2; Zhang, Haojian1; Hu, Jianhua1; Wang, Yunkuan1 | |
2023-09-29 | |
会议名称 | 2023 15th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC) |
会议日期 | 26-27 August 2023 |
会议地点 | Hangzhou, China |
摘要 | Accurate identification of human motion state is of great significance for exoskeleton robots to provide appropriate auxiliary torque. Previous work generated exoskeleton assist torque by recognizing the phase of the human gait. However, they set the gait phase to increase linearity throughout the gait cycle and then reset to 0 at the end, without taking into account the diversity of human gait. Different individuals exhibit varying gait characteristics, even the same person may walk with different gaits under distinct situations, such as speed and slope. To address this issue, we propose a novel gait phase coding method based on dynamic time warping (DTW), which can generate differentiated phases according to different gaits. Additionally, we introduce a long short-term memory (LSTM)-based gait phase estimation method. Our experimental results demonstrate that the proposed method achieves satisfactory performance. |
关键词 | Gait phase estimation hip exoskeleton dynamic time warping neural network |
语种 | 英语 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/54519 |
专题 | 中科院工业视觉智能装备工程实验室 |
通讯作者 | Wang, Yunkuan |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Zhang, Xingxuan,Zhang, Haojian,Hu, Jianhua,et al. Continuous Human Gait Phase Estimation Considering Individual Diversity[C],2023. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Continuous Human Gai(732KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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