An automatic and user-driven training method for locomotion mode recognition for artificial leg control.
An automatic and user-driven training method for locomotion mode recognition for artificial leg control.
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DOI：
10.1109/embc.2012.6347389
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Huang H
中科院分区：
文献类型：
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作者：
Zhang X;Wang D;Yang Q;Huang H
我们之前开发的运动模式识别（LMR）系统为动力假腿的直观控制提供了巨大的希望。然而，缺乏快速、实用的训练方法是我们的 LMR 假肢系统临床使用的障碍。本文旨在为 LMR 系统的实际使用设计一种新的、自动的、用户驱动的训练方法。在该方法中，应用基于便携式激光距离传感器和惯性测量单元（IMU）的可穿戴地形检测接口来检测假肢用户前方的地形变化。假肢支架的机械测量用于检测步态阶段。这两条信息流用于自动识别各种运动模式之间的转换，切换假肢控制模式，并实时标记训练数据的运动类别和步态阶段。该训练系统不需要外部设备。此外，假肢使用者无需任何其他专家的帮助即可完成整个训练过程。在健全受试者上的试点实验结果表明，我们开发的新方法准确且用户友好，并且可以在不牺牲系统性能的情况下显着简化LMR训练系统和训练程序。这种新颖的设计为我们设计的 LMR 系统用于动力下肢假肢控制的临床应用铺平了道路。
Our previously developed locomotion-mode-recognition (LMR) system has provided a great promise to intuitive control of powered artificial legs. However, the lack of fast, practical training methods is a barrier for clinical use of our LMR system for prosthetic legs. This paper aims to design a new, automatic, and user-driven training method for practical use of LMR system. In this method, a wearable terrain detection interface based on a portable laser distance sensor and an inertial measurement unit (IMU) is applied to detect the terrain change in front of the prosthesis user. The mechanical measurement from the prosthetic pylon is used to detect gait phase. These two streams of information are used to automatically identify the transitions among various locomotion modes, switch the prosthesis control mode, and label the training data with movement class and gait phase in real-time. No external device is required in this training system. In addition, the prosthesis user without assistance from any other experts can do the whole training procedure. The pilot experimental results on an able-bodied subject have demonstrated that our developed new method is accurate and user-friendly, and can significantly simplify the LMR training system and training procedure without sacrificing the system performance. The novel design paves the way for clinical use of our designed LMR system for powered lower limb prosthesis control.