An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots
Accurate gait event detection is necessary for control strategies of gait rehabilitation robots. However, due to personal diversity between individuals, it is a challenge for robots to detect a gait event at various stride frequencies. This paper proposes a novel method for gait event detection of a...
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doaj-42aacde463574865bcfd15cb2ccea7332020-11-25T03:09:14ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182020-07-011410.3389/fnbot.2020.00038518253An Adaptive Method for Gait Event Detection of Gait Rehabilitation RobotsJing Ye0Jing Ye1Hongde Wu2Lishan Wu3Jianjun Long4Yuling Zhang5Yuling Zhang6Gong Chen7Gong Chen8Chunbao Wang9Xun Luo10Xun Luo11Xun Luo12Qinghua Hou13Yi Xu14Shenzhen MileBot Robotics Co., Ltd., Shenzhen, ChinaShenzhen Institute of Geriatrics, Shenzhen, ChinaShenzhen MileBot Robotics Co., Ltd., Shenzhen, ChinaDepartment of Rehabilitation Medicine, The Seventh Affiliated Hospital, Sun Yat-sen University, Shenzhen, ChinaRehabilitation Center, The First Affiliated Hospital of Shenzhen University, Shenzhen, ChinaStroke Biological Recovery Laboratory, Spaulding Rehabilitation Hospital, Harvard Medical School, Boston, MA, United StatesSchool of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShenzhen MileBot Robotics Co., Ltd., Shenzhen, ChinaShenzhen Institute of Geriatrics, Shenzhen, ChinaShenzhen Institute of Geriatrics, Shenzhen, ChinaKerry Rehabilitation Medicine Research Institute, Shenzhen, ChinaShenzhen Sanming Project Group, Spaulding Rehabilitation Hospital, Harvard Medical School, Boston, MA, United StatesShenzhen Dapeng New District Nan'ao People's Hospital, Shenzhen, China0Clinical Neuroscience Center, The Seventh Affiliated Hospital, Sun Yat-sen University, Shenzhen, ChinaDepartment of Rehabilitation Medicine, The Seventh Affiliated Hospital, Sun Yat-sen University, Shenzhen, ChinaAccurate gait event detection is necessary for control strategies of gait rehabilitation robots. However, due to personal diversity between individuals, it is a challenge for robots to detect a gait event at various stride frequencies. This paper proposes a novel method for gait event detection of a gait rehabilitation robot using a single inertial sensor mounted on the thigh. A self-adaptive threshold for detecting heel strike is obtained in real time via a linear regression model. Observable thresholds for toe off detection are constant at various stride frequencies. Experiments are conducted based on 20 healthy subjects and six hemiplegic patients wearing a gait rehabilitation robot and walking at various kinds of stride frequencies. The experimental results show that the proposed method can detect heel strike and toe off gait events within an average 2% gait cycle temporal errors and never miss two-gait event detection. Compared to the conventional thresholding method, this work presents a simple and robust application for gait event detection in healthy and hemiplegic subjects by one inertial sensor. The linear regression model can be applicable to different subjects walking at various stride frequencies.https://www.frontiersin.org/article/10.3389/fnbot.2020.00038/fullgait event detectioninertial sensoradaptive thresholdgait rehabilitation robotadaptive method |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jing Ye Jing Ye Hongde Wu Lishan Wu Jianjun Long Yuling Zhang Yuling Zhang Gong Chen Gong Chen Chunbao Wang Xun Luo Xun Luo Xun Luo Qinghua Hou Yi Xu |
spellingShingle |
Jing Ye Jing Ye Hongde Wu Lishan Wu Jianjun Long Yuling Zhang Yuling Zhang Gong Chen Gong Chen Chunbao Wang Xun Luo Xun Luo Xun Luo Qinghua Hou Yi Xu An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots Frontiers in Neurorobotics gait event detection inertial sensor adaptive threshold gait rehabilitation robot adaptive method |
author_facet |
Jing Ye Jing Ye Hongde Wu Lishan Wu Jianjun Long Yuling Zhang Yuling Zhang Gong Chen Gong Chen Chunbao Wang Xun Luo Xun Luo Xun Luo Qinghua Hou Yi Xu |
author_sort |
Jing Ye |
title |
An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots |
title_short |
An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots |
title_full |
An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots |
title_fullStr |
An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots |
title_full_unstemmed |
An Adaptive Method for Gait Event Detection of Gait Rehabilitation Robots |
title_sort |
adaptive method for gait event detection of gait rehabilitation robots |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Neurorobotics |
issn |
1662-5218 |
publishDate |
2020-07-01 |
description |
Accurate gait event detection is necessary for control strategies of gait rehabilitation robots. However, due to personal diversity between individuals, it is a challenge for robots to detect a gait event at various stride frequencies. This paper proposes a novel method for gait event detection of a gait rehabilitation robot using a single inertial sensor mounted on the thigh. A self-adaptive threshold for detecting heel strike is obtained in real time via a linear regression model. Observable thresholds for toe off detection are constant at various stride frequencies. Experiments are conducted based on 20 healthy subjects and six hemiplegic patients wearing a gait rehabilitation robot and walking at various kinds of stride frequencies. The experimental results show that the proposed method can detect heel strike and toe off gait events within an average 2% gait cycle temporal errors and never miss two-gait event detection. Compared to the conventional thresholding method, this work presents a simple and robust application for gait event detection in healthy and hemiplegic subjects by one inertial sensor. The linear regression model can be applicable to different subjects walking at various stride frequencies. |
topic |
gait event detection inertial sensor adaptive threshold gait rehabilitation robot adaptive method |
url |
https://www.frontiersin.org/article/10.3389/fnbot.2020.00038/full |
work_keys_str_mv |
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