Author/Authors :
Du, Gang School of Information Engineering - China University of Geosciences, Beijing, China , Zeng, Jinchen Faculty of Electrical Engineering - Mathematics and Computer Science - Technische Universiteit Delft, Delft, Netherlands , Gong,Cheng College of Engineering, Peking University, Beijing, China , Zheng, Enhao The State Key Laboratory of Management and Control for Complex Systems - Institute of Automation - Chinese Academy of Sciences,Beijing, China
Abstract :
Recognizing locomotion modes is a crucial step in controlling lower-limb exoskeletons/or thoses. Our study proposed a fuzzy-logic-based locomotion mode/transition recognition approach that uses the onrobot inertial sensors for a hip joint exoskeleton (active pelvicor thosis). The method outputs the recognition decisions at each extreme point of the hip joint angles purely relying on the integrated inertial sensors. Compared with the related studies, our approach enables calibrations and recognition with outadditional sensors on the feet. We validated the method by measuring four locomotion modes and eight locomotion transitions onthree able-bodied subjects wearing an active pelvic orthosis (APO). The average recognition accuracy was 92.46% for intrasubjectcross validation and 93.16% for intersubject cross validation. The average time delay during the transitions was 1897.9 ms (28.95%one gait cycle). The results were at the same level as the related studies. On the other side, the study is limited in the small sample size of the subjects, and the results are preliminary. Future efforts will be paid on more extensive evaluations in practical applications.
