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

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

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.

Figures

Figure 1.
Figure 1.
The state diagram of the intention detection algorithm and prosthetic control.
Figure 2.
Figure 2.
The experimental setup: the amputee is walking between parallel bars with a robotic prosthesis and wearing wearable sensors.
Figure 3.
Figure 3.
Steady-state gait phases of an amputee walking. From left to right: (a) single stance prosthetic limb (SSp); (b) double stance prosthetic-sound limb (DSps); (c) single stance sound limb (SSs); and (d) double stance sound prosthetic limb (DSsp).
Figure 4.
Figure 4.
Typical selected input signals and output of the algorithm for a subject during a walking trial. In the top right corner, the pattern sequence for a single stride is illustrated with L for left stance, L-R for left-right double stance, R for right single stance and R-L for right-left double stance. The phase flag values correspond to the values 11, 12, 13 and 14, defined in Table 3.

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