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Online phase detection using wearable sensors for walking with a robotic prosthesis
ID Goršič, Maja (Author), ID Kamnik, Roman (Author), ID Ambrožič, Luka (Author), ID Vitiello, Nicola (Author), ID Lefeber, Dirk (Author), ID Pasquini, Guido (Author), ID Munih, Marko (Author)

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Abstract
This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based on heuristic threshold rules, dividing a steady-state walking stride into four phases. For the evaluation of the algorithm, experiments with three amputees, walking with the robotic prosthesis and wearable sensors, were performed. Results show a high rate of successful detection for all four phases (the average success rate across all subjects >90%). A comparison of the proposed method to an off-line trained algorithm using hidden Markov models reveals a similar performance achieved without the need for learning dataset acquisition and previous model training.

Language:English
Keywords:wearable sensory system, inertial sensors, instrumented insoles, gait phase detection, robotic prosthesis
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FE - Faculty of Electrical Engineering
Publication status:Published
Publication version:Version of Record
Year:2014
Number of pages:Str. 2776-2794
Numbering:Vol. 14, iss. 2
PID:20.500.12556/RUL-129242 This link opens in a new window
UDC:007.52:681.586
ISSN on article:1424-8220
DOI:10.3390/s140202776 This link opens in a new window
COBISS.SI-ID:10544724 This link opens in a new window
Publication date in RUL:31.08.2021
Views:1022
Downloads:148
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Record is a part of a journal

Title:Sensors
Shortened title:Sensors
Publisher:MDPI
ISSN:1424-8220
COBISS.SI-ID:10176278 This link opens in a new window

Licences

License:CC BY 3.0, Creative Commons Attribution 3.0 Unported
Link:https://creativecommons.org/licenses/by/3.0/deed.en
Description:You are free to reproduce and redistribute the material in any medium or format. You are free to remix, transform, and build upon the material for any purpose, even commercially. You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
Licensing start date:11.02.2014

Secondary language

Language:Slovenian
Keywords:prenosljiv senzorni sistem, inercialni senzorji, merilni podplati, detekcija faz hoje, robotska proteza

Projects

Funder:EC - European Commission
Funding programme:FP7
Project number:287894
Name:The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis
Acronym:CYBERLEGS

Funder:ARRS - Slovenian Research Agency
Project number:P2-0228
Name:Analiza in sinteza gibanja pri človeku in stroju

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