Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses

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

	Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses
	Zheng, Enhao; Wang, Qining
刊名	IEEE Transactions on Neural Systems and Rehabilitation Engineering
	2017
期号	2 页码:161-170
关键词	Capacitive Sensing Locomotion Transition Recognition Robotic Prosthesis Transtibial Amputees
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.
语种	英语
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/21742]
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	College of Engineering, Peking University
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[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering,2017(2):161-170.
APA	Zheng, Enhao,&Wang, Qining.(2017).Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses.IEEE Transactions on Neural Systems and Rehabilitation Engineering(2),161-170.
MLA	Zheng, Enhao,et al."Noncontact capacitive sensing-based locomotion transition recognition for amputees with robotic transtibial prostheses".IEEE Transactions on Neural Systems and Rehabilitation Engineering .2(2017):161-170.