Capacitive Sensing-Based Continuous Gait Phase Estimation in Robotic Transtibial Prostheses

Dongfang Xu, Simona Crea, Nicola Vitiello, Qining Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Gait phase plays an important role in controlling wearable robot. This paper focuses on the continuous gait phase estimation by using capacitive sensing method for one transtibial amputee wearing robotic prosthesis. First, the capacitive sensing signals are used to record muscles' contraction and relaxation to detect two gait events (heel strike and toe off) as the start points (reset 0 rad) of one gait cycle. Secondly, continuous gait phase estimation is conducted based on the detected gait events (heel strike and toe off, respectively) with adaptive oscillators. In this study, the heel strike and toe off in each gait cycle can be detected with 100% accuracy based on linear discriminant analysis algorithm. The delay ratios for heel strike and toe off are less than 1% within one gait cycle. The root-mean-square errors of continuous gait phase estimation based on the different reset timings (heel strike and toe off) are 0.15 rad and 0.19 rad. The results show the feasibility to estimate the gait phase for amputee based on the residual muscles' capacitive signals.

Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
PublisherIEEE Computer Society
Pages298-303
Number of pages6
ISBN (Electronic)9781728159072
DOIs
Publication statusPublished - Nov 2020
Event8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - New York City, United States
Duration: Nov 29 2020Dec 1 2020

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2020-November
ISSN (Print)2155-1774

Conference

Conference8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
CountryUnited States
CityNew York City
Period11/29/2012/1/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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