Noncontact Capacitive Sensing-Based Locomotion Transition Recognition   for Amputees With Robotic Transtibial Prostheses

doi:10.1109/TNSRE.2016.2529581

CORC > 北京大学 > 工学院

	Noncontact Capacitive Sensing-Based Locomotion Transition Recognition for Amputees With Robotic Transtibial Prostheses
	Zheng, Enhao ; Wang, Qining
	2017
关键词	Capacitive sensing locomotion transition recognition robotic prosthesis transtibial amputees ANKLE-FOOT PROSTHESIS LOWER-LIMB PROSTHESIS INTENT RECOGNITION DESIGN WALKING ALGORITHMS SYSTEM MODES GAITS
DOI	10.1109/TNSRE.2016.2529581
英文摘要	Recent advancement of robotic transtibial prostheses can restore human ankle dynamics in different terrains. Automatic locomotion transitions of the prosthesis guarantee the amputee's safety and smooth motion. In this paper, we present a noncontact capacitive sensing-based approach for recognizing locomotion transitions of amputees with robotic transtibial prostheses. The proposed sensing system is designed with flexible printed circuit boards which solves the walking instability brought by our previous system when using robotic prosthesis and improves the recognition performance. Six transtibial amputees were recruited and performed tasks of ten locomotion transitions with the robotic prosthesis that we recently constructed. The capacitive sensing system was integrated on the prosthesis and worked in combination with on-prosthesis mechanical sensors. With the cascaded classification method, the proposed system achieved 95.8% average recognition accuracy by support vector machine (SVM) classifier and 94.9% accuracy by quadratic discriminant analysis (QDA) classifier. It could accurately recognize the upcoming locomotion modes from the stance phase of the transition steps. In addition, we proved that adding capacitance signals could significantly reduce recognition errors of the robotic prosthesis in locomotion transition tasks. Our study suggests that the fusion of capacitive sensing system and mechanical sensors is a promising alternative for controlling the robotic transtibial prosthesis.; R&D Project of the Beijing Disabled Persons' Federation; National Natural Science Foundation of China [61005082, 61020106005, 61533001]; Beijing Municipal Science and Technology Project [Z151100003715001, Z151100000915073]; Beijing Nova Program [Z141101001814001]; CPCI-S(ISTP); 2; 161-170; 25
会议录	International Workshop on Wearable Robotics for Motion Assistance and Rehabilitation (RObOASSIST) in conjunction with the IEEE International Conference on Robotics and Automation (ICRA)
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/469809]
专题	工学院
推荐引用方式 GB/T 7714	Zheng, Enhao,Wang, Qining. Noncontact Capacitive Sensing-Based Locomotion Transition Recognition for Amputees With Robotic Transtibial Prostheses[C]. 见:.