Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton

Vittorio Lippi, Cristian Camardella, Alessandro Filippeschi, Alessandro Filippeschi, Francesco Porcini

2021

Abstract

Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In order to provide a comfortable experience and maximize performance, the exoskeleton should be controlled smoothly and in a transparent way, which means respectively, minimizing the interaction forces with the user and jerky behavior due to transitions between different configurations. A previous study showed that a smooth control of the exoskeleton can be achieved using a gait phase segmentation based on joint kinematics. Such a segmentation system can be implemented as linear regression and should be personalized for the user after a calibration procedure. In this work, a nonlinear segmentation function based on neural networks is implemented and compared with linear regression. An on-line implementation is then proposed and tested with a subject.

Paper Citation

in Harvard Style

Lippi V., Camardella C., Filippeschi A. and Porcini F. (2021). Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 171-178. DOI: 10.5220/0010554401710178

in Bibtex Style

@conference{icinco21,
author={Vittorio Lippi and Cristian Camardella and Alessandro Filippeschi and Francesco Porcini},
title={Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={171-178},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010554401710178},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton
SN - 978-989-758-522-7
AU - Lippi V.
AU - Camardella C.
AU - Filippeschi A.
AU - Porcini F.
PY - 2021
SP - 171
EP - 178
DO - 10.5220/0010554401710178