Real-time Terrain Mode Recognition Module for the Control of Lower-limb Prosthesis

Pan, Yifei1; Zhang, Jiwen1; Song, Libin1; Fu, Chenglong2

2018

1951-6851

PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON COMPUTER MODELING, SIMULATION AND ALGORITHM (CMSA 2018)

151

343-346

29 AVENUE LAVMIERE, PARIS, 75019, FRANCE

ATLANTIS PRESS

This paper is aimed to develop and evaluate a realtime terrain mode recognition system to assist the control of the lower-limb prosthesis. A wearable terrain recognition device, composed of an inertia measurement unit and a 2D-laser, was built to classify the types of terrain in front of the lower-limb prosthesis while walking. The terrain mode recognition module could not only detect the types of terrain in front of the wearers but also provide the detailed environment information such as the height of the stair, the angle of the slope. The built terrain mode recognition algorithm was evaluated on an able-bodied subject in the study. The results showed that the algorithm provided the terrain information accurately and quickly: terrain mode recognition accuracy was over 95% and the types of terrain were classified every 150ms which was quick enough for the control of the lower-limb prosthesis in the future. Compared with the previous work on the terrain mode recognition, the approach mentioned on this paper could be applied in more complex environment and furthermore should be considered for operating wearable lower-limb prosthesis and orthotics.

terrain recognition 2D-laser lower-limb prosthesis

通讯

英语

CPCI-S

Beijing Municipal Science & Technology Commission[Z161100000516033]

Computer Science

Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods

WOS:000452695100079

Web of Science

1.Tsinghua Univ, State Key Lab Tribol, Beijing 100084, Peoples R China
2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China

Pan, Yifei,Zhang, Jiwen,Song, Libin,et al. Real-time Terrain Mode Recognition Module for the Control of Lower-limb Prosthesis[C]. 29 AVENUE LAVMIERE, PARIS, 75019, FRANCE:ATLANTIS PRESS,2018:343-346.