Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot

	Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot
	Xinyu Wu; Duxin Liu; Ming Liu; Chunjie Chen; Huiwen Guo
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2018
文献子类	期刊论文
英文摘要	The development of sharing technology makes it possible for expensive lower limb exoskeleton robots to be extensively employed. However, due to the uniqueness of gait pattern, it is challenging for lower limb exoskeleton robot to adapt to different wearers’ gait patterns. Studies have shown that the gait pattern is affected by many physical factors. This paper proposes an individualized gait pattern generation (IGPG) method for sharing lower limb exoskeleton (SLEX) robot. First, the gait sequences are parameterized to extract gait features. Then, the Gaussian process regression with automatic relevance determination is used to establish the mapping relationships between the body parameters and the gait features, and the weights of each body parameters on gait pattern are also given. The gait features of an unknown subject can be predicted based on the training set. Finally, the individualized gait pattern is reconstructed by autoencoder neural network and scaling process based on predicted gait features. The experimental results show that the gait pattern predicted by IGPG is very similar to the subject’s actual trajectory and has been successfully applied on the SLEX robot. With the help of sharing technology, the training set will be increased, and the prediction accuracy of individualized gait pattern will also be improved.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13675]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Xinyu Wu,Duxin Liu,Ming Liu,et al. Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2018.
APA	Xinyu Wu,Duxin Liu,Ming Liu,Chunjie Chen,&Huiwen Guo.(2018).Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING.
MLA	Xinyu Wu,et al."Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton Robot".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2018).