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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| Accès en ligne: | https://arxiv.org/abs/2411.08136 |
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| _version_ | 1866915016557461504 |
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| author | Posh, Ryan Li, Shenggao Wensing, Patrick |
| author_facet | Posh, Ryan Li, Shenggao Wensing, Patrick |
| contents | Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In this work, a novel, interpretable, and computationally efficient algorithm is presented for simultaneously predicting locomotion mode and gait phase. Using able-bodied (AB) and transtibial prosthesis (PR) data, seven locomotion modes are tested including slow, medium, and fast level walking (0.6, 0.8, and 1.0 m/s), ramp ascent/descent (5 degrees), and stair ascent/descent (20 cm height). Overall classification accuracy was 99.1$\%$ and 99.3$\%$ for the AB and PR conditions, respectively. The average gait phase error across all data was less than 4$\%$. Exploiting the structure of the data, computational efficiency reached 2.91 $μ$s per time step. The time complexity of this algorithm scales as $O(N\cdot M)$ with the number of locomotion modes $M$ and samples per gait cycle $N$. This efficiency and high accuracy could accommodate a much larger set of locomotion modes ($\sim$ 700 on Open-Source Leg Prosthesis) to handle the wide range of activities pursued by individuals during daily living. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_08136 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses Posh, Ryan Li, Shenggao Wensing, Patrick Robotics Recognizing and identifying human locomotion is a critical step to ensuring fluent control of wearable robots, such as transtibial prostheses. In particular, classifying the intended locomotion mode and estimating the gait phase are key. In this work, a novel, interpretable, and computationally efficient algorithm is presented for simultaneously predicting locomotion mode and gait phase. Using able-bodied (AB) and transtibial prosthesis (PR) data, seven locomotion modes are tested including slow, medium, and fast level walking (0.6, 0.8, and 1.0 m/s), ramp ascent/descent (5 degrees), and stair ascent/descent (20 cm height). Overall classification accuracy was 99.1$\%$ and 99.3$\%$ for the AB and PR conditions, respectively. The average gait phase error across all data was less than 4$\%$. Exploiting the structure of the data, computational efficiency reached 2.91 $μ$s per time step. The time complexity of this algorithm scales as $O(N\cdot M)$ with the number of locomotion modes $M$ and samples per gait cycle $N$. This efficiency and high accuracy could accommodate a much larger set of locomotion modes ($\sim$ 700 on Open-Source Leg Prosthesis) to handle the wide range of activities pursued by individuals during daily living. |
| title | Simultaneous Locomotion Mode Classification and Continuous Gait Phase Estimation for Transtibial Prostheses |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.08136 |