Real-time intent recognition for a powered knee and ankle transfemoral prosthesis

Huseyin Atakan Varol, Michael Goldfarb

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Citations (Scopus)

Abstract

This paper describes a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis. Rather than utilize an "echo control" as proposed by others, which requires instrumentation of the sound-side leg, the proposed approach infers user intent based on the characteristic shape of the force and moment vector of interaction between the user and prosthesis. The real-time intent recognition approach utilizes a K-nearest neighbor algorithm with majority voting and threshold biasing schemes to increase its robustness. The ability of the approach to recognize in real time a person's intent to stand or walk at one of three different speeds is demonstrated on measured biomechanics data.

Original languageEnglish
Title of host publication2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Pages16-23
Number of pages8
DOIs
Publication statusPublished - Dec 1 2007
Event2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 - Noordwijk, Netherlands
Duration: Jun 12 2007Jun 15 2007

Publication series

Name2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07

Other

Other2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
CountryNetherlands
CityNoordwijk
Period6/12/076/15/07

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Varol, H. A., & Goldfarb, M. (2007). Real-time intent recognition for a powered knee and ankle transfemoral prosthesis. In 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07 (pp. 16-23). [4428400] (2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07). https://doi.org/10.1109/ICORR.2007.4428400