Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In order to provide a comfortable experience and maximize performance, the exoskeleton should be controlled smoothly and in a transparent way, which means respectively, minimizing the interaction forces with the user and jerky behavior due to transitions between different configurations. A previous study showed that a smooth control of the exoskeleton can be achieved using a gait phase segmentation based on joint kinematics. Such a segmentation system can be implemented as linear regression and should be personalized for the user after a calibration procedure. In this work, a nonlinear segmentation function based on neural networks is implemented and compared with linear regression. An on-line implementation is then proposed and tested with a subject.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Identification of gait phases with neural networks for smooth transparent control of a lower limb exoskeleton



    Erscheinungsdatum :

    01.01.2021



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Convolutional neural network model for gait classification of flexible lower limb exoskeleton

    Sun, Lei / Li, Chenghui | British Library Conference Proceedings | 2022


    Effect of lower limb exoskeleton on the modulation of neural activity and gait classification

    Tortora, Stefano / Tonin, Luca / Sieghartsleitner, Sebastian et al. | BASE | 2023

    Freier Zugriff

    Effect of lower limb exoskeleton on the modulation of neural activity and gait classification

    Tortora, Stefano / Tonin, Luca / Sieghartsleitner, Sebastian et al. | BASE | 2023

    Freier Zugriff

    An adaptable human-like gait pattern generator derived from a lower limb exoskeleton

    Mendoza-Crespo, R. / Torricelli, Diego / Huegel, J.C. et al. | BASE | 2019

    Freier Zugriff

    Control of a Lower Limb Exoskeleton Robot by Upper Limb sEMG Signal

    Guo, Shuxiang / Ding, Yibin / Guo, Jian | British Library Conference Proceedings | 2021