Maja Goršič (Author), Roman Kamnik (Author), Luka Ambrožič (Author), Nicola Vitiello (Author), Dirk Lefeber (Author), Guido Pasquini (Author), Marko Munih (Author)

Abstract

This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based on heuristic threshold rules, dividing a steady-state walking stride into four phases. For the evaluation of the algorithm, experiments with three amputees, walking with the robotic prosthesis and wearable sensors, were performed. Results show a high rate of successful detection for all four phases (the average success rate across all subjects >90%). A comparison of the proposed method to an off-line trained algorithm using hidden Markov models reveals a similar performance achieved without the need for learning dataset acquisition and previous model training.

Keywords

prenosljiv senzorni sistem;inercialni senzorji;merilni podplati;detekcija faz hoje;robotska proteza;wearable sensory system;inertial sensors;instrumented insoles;gait phase detection;robotic prosthesis;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UL FE - Faculty of Electrical Engineering
UDC: 007.52:681.586
COBISS: 10544724 Link will open in a new window
ISSN: 1424-8220
Views: 249
Downloads: 55
Average score: 0 (0 votes)
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Other data

Secondary language: Slovenian
Secondary keywords: prenosljiv senzorni sistem;inercialni senzorji;merilni podplati;detekcija faz hoje;robotska proteza;
Type (COBISS): Article
Pages: str. 2776-2794
Volume: ǂVol. ǂ14
Issue: ǂno. ǂ2
Chronology: Feb. 2014
DOI: 10.3390/s140202776
ID: 13299910