直列弾性アクチュエータを備えた動力足関節義足のMLPに基づく連続歩行認識
MLP Based Continuous Gait Recognition of a Powered Ankle Prosthesis with Serial Elastic Actuator
直列弾性アクチュエータを備えた動力足関節義足を設計し、単一IMU信号から歩行速度・歩行相・足関節角度・角速度を連続的に予測するMLPベースの歩行認識手法を提案した。
著者: Yanze Li, Feixing Chen, Jingqi Cao, Ruoqi Zhao, Xuan Yang, Xingbang Yang, Yubo Fan
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them to be comparable to or better than a real limb. However, current designs fail to provide simple yet effective compliance of the joint with full potential of modification, and lack accurate gait prediction method in real time. This paper proposes an innovative design of powered ankle prosthesis with serial elastic actuator (SEA), and puts forward a MLP based gait recognition method that can accurately and continuously predict more gait parameters for motion sensing and control. The prosthesis mimics biological joint with similar weight, torque, and power which can assist walking of up to 4 m/s. A new design of planar torsional spring is proposed for the SEA, which has better stiffness, endurance, and potential of modification than current designs. The gait recognition system simultaneously generates locomotive speed, gait phase, ankle angle and angular velocity only utilizing signals of single IMU, holding advantage in continuity, adaptability for speed range, accuracy, and capability of multi-functions.
