Real-time gait phase detection and estimation of gait speed and ground slope for a robotic knee orthosis

Jinsoo Kim, Seung-Jong Kim, Junho Choi

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

1 Citation (Scopus)

Abstract

This paper introduces a lightweight knee assisting robot called 'COWALK-M' and a control methodology using estimated ground slope and intended walking speed of the wearer. It is designed to assist stroke patients suffering from mild hemiplegia to move the paretic knee joint during Activities of Daily Living(ADL). The COWALK-M has various kinds of sensors including pressure sensors under the soles as well as encoders at the knee and ankle joints. These sensors are used to detect gait phases in real-time and finite state machine (FSM) is implemented for quiet standing and forward walking. Furthermore, ground slope as well as gait speed is estimated in order to provide the wearer with the most appropriate trajectory. To evaluate the performance of gait segmentation algorithm and gait speed/ground slope estimator, experiments on walking with and without a treadmill were conducted on five subjects under different speeds and different inclines. Despite a small number of sensors used, our method showed relatively high success rates for phase detection and a small error for estimators.

Original languageEnglish
Title of host publicationProceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics
Subtitle of host publicationEnabling Technology Festival, ICORR 2015
EditorsDavid Braun, Haoyong Yu, Domenico Campolo
PublisherIEEE Computer Society
Pages392-397
Number of pages6
ISBN (Electronic)9781479918072
DOIs
Publication statusPublished - 2015 Sep 28
Externally publishedYes
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: 2015 Aug 112015 Aug 14

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2015-September
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period15/8/1115/8/14

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

Cite this

Kim, J., Kim, S-J., & Choi, J. (2015). Real-time gait phase detection and estimation of gait speed and ground slope for a robotic knee orthosis. In D. Braun, H. Yu, & D. Campolo (Eds.), Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics: Enabling Technology Festival, ICORR 2015 (pp. 392-397). [7281231] (IEEE International Conference on Rehabilitation Robotics; Vol. 2015-September). IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281231