Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators

doi:10.1109/TBME.2017.2672720

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 机器人应用与理论组

	Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators
	Zheng, Enhao1,2 ; Manca, Silvia 3; Yan, Tingfang 3,4; Parri, Andrea 3; Vitiello, Nicola 3,5; Wang, Qining 6,7
刊名	IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
	2017-10-01
卷号	64 期号:10 页码:2419-2430
关键词	Gait Phase Estimation Orthosis Exoskeleton Capacitive Sensing Adaptive Oscillators
DOI	10.1109/TBME.2017.2672720
文献子类	Article
英文摘要	This paper presents a novel strategy aiming to acquire an accurate and walking-speed-adaptive estimation of the gait phase through noncontact capacitive sensing and adaptive oscillators (AOs). The capacitive sensing system is designed with two sensing cuffs that can measure the leg muscle shape changes during walking. The system can be dressed above the clothes and free human skin from contacting to electrodes. In order to track the capacitance signals, the gait phase estimator is designed based on the AO dynamic system due to its ability of synchronizing with quasi-periodic signals. After the implementation of the whole system, we first evaluated the offline estimation performance by experiments with 12 healthy subjects walking on a treadmill with changing speeds. The strategy achieved an accurate and consistent gait phase estimation with only one channel of capacitance signal. The average root-meansquare errors in one stride were 0.19 rad (3.0% of one gait cycle) for constant walking speeds and 0.31 rad (4.9% of one gait cycle) for speed transitions even after the subjects rewore the sensing cuffs. We then validated our strategy in a real-time gait phase estimation task with three subjects walking with changing speeds. Our study indicates that the strategy based on capacitive sensing and AOs is a promising alternative for the control of exoskeleton/orthosis.
WOS关键词	REAL-TIME ESTIMATE ; EXOSKELETON ; DESIGN ; SYSTEM ; GENERATION ; ASSISTANCE ; ORTHOSES ; AMPUTEES ; WALKING ; ROBOTS
WOS研究方向	Engineering
语种	英语
WOS记录号	WOS:000411585100012
资助机构	Beijing Disabled Persons' Federation ; National Natural Science Foundation of China(91648207) ; Beijing Municipal Science and Technology Project(Z151100000915073) ; Beijing Nova Program(Z141101001814001) ; EU within the CYBERLEGs(FP7-ICT-2011-2.1 ; Fondazione Pisa within the IUVO(154/11) ; 287894)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/20166]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
作者单位	1.Peking Univ, Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Scuola Super Sant Anna, BioRobot Inst, Pisa, Italy 4.Chinese Univ Hong Kong, Dept Elect Engn, Hong Kong, Hong Kong, Peoples R China 5.Fdn Don Carlo Gnocchi, Florence, Italy 6.Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China 7.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
推荐引用方式 GB/T 7714	Zheng, Enhao,Manca, Silvia,Yan, Tingfang,et al. Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators[J]. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,2017,64(10):2419-2430.
APA	Zheng, Enhao,Manca, Silvia,Yan, Tingfang,Parri, Andrea,Vitiello, Nicola,&Wang, Qining.(2017).Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators.IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING,64(10),2419-2430.
MLA	Zheng, Enhao,et al."Gait Phase Estimation Based on Noncontact Capacitive Sensing and Adaptive Oscillators".IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING 64.10(2017):2419-2430.