Gait Pattern Identification and Phase Estimation in Continuous Multilocomotion Mode Based on Inertial Measurement Units

doi:10.1109/JSEN.2022.3175823

CORC > 自动化研究所 > 中国科学院自动化研究所 > 智能制造技术与系统研究中心 > 先进制造与自动化

	Gait Pattern Identification and Phase Estimation in Continuous Multilocomotion Mode Based on Inertial Measurement Units
	Zhang, Xingxuan 1,2; Zhang, Haojian 2; Hu, Jianhua 2; Zheng, Jun 2; Wang, Xinbo 2; Deng, Jieren 1,2; Wan, Zihao 1,2; Wang, Haotian 1,2; Wang, Yunkuan 2
刊名	IEEE SENSORS JOURNAL
	2022-09-01
卷号	22 期号:17 页码:16952-16962
关键词	Gait pattern identification phase estimate adaptive oscillators gait event detector wearable robots
ISSN号	1530-437X
DOI	10.1109/JSEN.2022.3175823
通讯作者	Wang, Yunkuan(yunkuan.wang@ia.ac.cn)
英文摘要	In the field of lower limb exoskeletons, it is essential to accurately estimate the gait phase of humans. Many methods have been proposed to estimate the gait phase, but only a few studies have considered the multi-locomotion mode. This paper proposes a novel inertial measurement unit(IMU)-based method to estimate the gait phase of a pilot in continuous multi-locomotion mode. The method includes gait pattern recognition based on long short-term memory (LSTM), continuous phase estimation based on a dual adaptive frequency oscillator(DAFO), threshold-based toe-off event detection and a rule-based gait phase synchronization module. First, we used the LSTM-based network to identify four gait patterns including standing, level ground walking, upstairs and downstairs. Next, the DAFO was used to obtain the continuous gait phase of the pilot. Then, we detected the gait events in different gait modes. Finally, the continuous gait phase was synchronized according to the gait events. The experimental result shows that the gait pattern classification accuracy using 5 IMUs is 98.58% and the F-1 score reaches 0.9875. The proposed DAFO model can maintain good stability when multiple gait modes are frequently switched, significantly improving the problem of slow convergence and the poor robustness of single adaptive frequency oscillator(SAFO) models. Toe-off gait events of 492 steps are all detected and the average error at the detected gait events in different gait modes is 15.34 +/- 40.58 ms.
资助项目	Intelligent Manufacturing Comprehensive Standardization and New Model Application Project of the Ministry of Industry and Information Technology of the People's Republic of China[Y8G1041CB1]
WOS关键词	EXTREMITY EXOSKELETON ROBOT ; REAL-TIME ESTIMATE ; INTENT RECOGNITION ; EVENT DETECTION ; OSCILLATOR
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000849268700034
资助机构	Intelligent Manufacturing Comprehensive Standardization and New Model Application Project of the Ministry of Industry and Information Technology of the People's Republic of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50080]
专题	智能制造技术与系统研究中心_先进制造与自动化
通讯作者	Wang, Yunkuan
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Xingxuan,Zhang, Haojian,Hu, Jianhua,et al. Gait Pattern Identification and Phase Estimation in Continuous Multilocomotion Mode Based on Inertial Measurement Units[J]. IEEE SENSORS JOURNAL,2022,22(17):16952-16962.
APA	Zhang, Xingxuan.,Zhang, Haojian.,Hu, Jianhua.,Zheng, Jun.,Wang, Xinbo.,...&Wang, Yunkuan.(2022).Gait Pattern Identification and Phase Estimation in Continuous Multilocomotion Mode Based on Inertial Measurement Units.IEEE SENSORS JOURNAL,22(17),16952-16962.
MLA	Zhang, Xingxuan,et al."Gait Pattern Identification and Phase Estimation in Continuous Multilocomotion Mode Based on Inertial Measurement Units".IEEE SENSORS JOURNAL 22.17(2022):16952-16962.