Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking

Huseyin Atakan Varol; Frank Sup; Michael Goldfarb

doi:10.1109/BIOROB.2008.4762860

Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking

Huseyin Atakan Varol, Frank Sup, Michael Goldfarb

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

40 Citations (Scopus)

Abstract

This paper describes a real-time gait mode intent recognition approach for the supervisory control of a powered transfemoral prosthesis. The proposed approach infers user intent by recognizing patterns in the prosthesis sensor's signals in real-time, eliminating the need for sound-side instrumentation and allowing fast mode switching. Simple time based features extracted from frames of prosthesis signals are reduced to lower dimensions. Gaussian Mixture Models are trained using an experimental database for gait mode classification. A voting scheme is applied as a post-processing step to increase the robustness of decision making. The effectiveness of the proposed method is shown via gait experiments on a treadmill with a healthy subject using an able bodied adapter.

Original language	English
Title of host publication	Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages	66-72
Number of pages	7
DOIs	https://doi.org/10.1109/BIOROB.2008.4762860
Publication status	Published - 2008
Event	2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States Duration: Oct 19 2008 → Oct 22 2008

Publication series

Name	Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Other

Other	2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Country	United States
City	Scottsdale, AZ
Period	10/19/08 → 10/22/08

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Biomedical Engineering

Access to Document

10.1109/BIOROB.2008.4762860

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Varol, H. A., Sup, F., & Goldfarb, M. (2008). Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 66-72). [4762860] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762860

Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking. / Varol, Huseyin Atakan; Sup, Frank; Goldfarb, Michael.

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 66-72 4762860 (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Varol, HA, Sup, F & Goldfarb, M 2008, Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762860, Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, pp. 66-72, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, United States, 10/19/08. https://doi.org/10.1109/BIOROB.2008.4762860

Varol HA, Sup F, Goldfarb M. Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 66-72. 4762860. (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762860

Varol, Huseyin Atakan ; Sup, Frank ; Goldfarb, Michael. / Real-time gait mode intent recognition of a powered knee and ankle prosthesis for standing and walking. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 66-72 (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008).

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abstract = "This paper describes a real-time gait mode intent recognition approach for the supervisory control of a powered transfemoral prosthesis. The proposed approach infers user intent by recognizing patterns in the prosthesis sensor's signals in real-time, eliminating the need for sound-side instrumentation and allowing fast mode switching. Simple time based features extracted from frames of prosthesis signals are reduced to lower dimensions. Gaussian Mixture Models are trained using an experimental database for gait mode classification. A voting scheme is applied as a post-processing step to increase the robustness of decision making. The effectiveness of the proposed method is shown via gait experiments on a treadmill with a healthy subject using an able bodied adapter.",

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