TY - GEN
T1 - Online estimation of continuous gait phase for robotic transtibial prostheses based on adaptive oscillators
AU - Xu, Dongfang
AU - Crea, Simona
AU - Vitiello, Nicola
AU - Wang, Qining
PY - 2020/7
Y1 - 2020/7
N2 - Continuous gait phase plays an important role in wearable robot control. This study focuses on the online estimation of continuous gait phase based on robotic transtibial prosthesis signals. First, we adopt the prosthetic foot deformation information to detect the heel strike as the start timing (reset 0 rad) of one gait cycle. Then we conduct the gait phase estimation based on adaptive oscillators using the prosthetic shank angle signal as input. Three transtibial amputees were recruited in this study and they walked on the treadmill at different speeds (slow, normal and fast) and on different ramps (10°, 5°, 0°, -5° and -10°) in the experiment. The root-meansquare error between online estimation result and ground truth gait phase is calculated. The maximum and minimum errors are 0.147 rad and 0.058 rad, and the corresponding ratios in one gait cycle are 2.34% and 0.92%. This study achieves good performance and provides an effective method to estimate the continuous gait phase, which will instruct robotic transtibial prosthesis control.
AB - Continuous gait phase plays an important role in wearable robot control. This study focuses on the online estimation of continuous gait phase based on robotic transtibial prosthesis signals. First, we adopt the prosthetic foot deformation information to detect the heel strike as the start timing (reset 0 rad) of one gait cycle. Then we conduct the gait phase estimation based on adaptive oscillators using the prosthetic shank angle signal as input. Three transtibial amputees were recruited in this study and they walked on the treadmill at different speeds (slow, normal and fast) and on different ramps (10°, 5°, 0°, -5° and -10°) in the experiment. The root-meansquare error between online estimation result and ground truth gait phase is calculated. The maximum and minimum errors are 0.147 rad and 0.058 rad, and the corresponding ratios in one gait cycle are 2.34% and 0.92%. This study achieves good performance and provides an effective method to estimate the continuous gait phase, which will instruct robotic transtibial prosthesis control.
UR - http://www.scopus.com/inward/record.url?scp=85090385294&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85090385294&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9158968
DO - 10.1109/AIM43001.2020.9158968
M3 - Conference contribution
AN - SCOPUS:85090385294
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1890
EP - 1895
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -