Online phase detection using wearable sensors for walking with a robotic prosthesis

Goršič, Maja (author), Kamnik, Roman (author), Ambrožič, Luka (author), Vitiello, Nicola (author), Lefeber, Dirk (author), Pasquini, Guido (author), Munih, Marko (author)

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
• UDC: 007.52:681.586
• ISSN on article: 1424-8220
• DOI: 10.3390/s140202776
• COBISS.SI-ID: 10544724
• Publication date in RUL: 31.08.2021

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

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