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A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification
Joint Authors
Wang, Can
Ma, Yue
Wu, Guizhong
Luo, Yuhao
Wu, Xinyu
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-23
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper presents a bioinspired lower extremity exoskeleton robot.
The proposed exoskeleton robot can be adjusted in structure to meet the wearer’s height of 150–185 cm and has a good gait stability.
In the gait control part, a method of identifying different locomotion modes is proposed; five common locomotion modes are considered in this paper, including sitting down, standing up, level-ground walking, ascending stairs, and descending stairs.
The identification is depended on angle information of the hip, knee, and ankle joints.
A deep locomotion mode identification model (DLMIM) based on long-short term memory (LSTM) architecture is proposed in this paper for exploiting the angle data.
We conducted two experiments to verify the effectiveness of the proposed method.
Experimental results show that the DLMIM is capable of learning inherent characteristics of joint angles and achieves more accurate identification than the other models.
The last experiment demonstrates that the DLMIM can recognize transitions between different locomotion modes in time and the real-time performance varies with each individual.
American Psychological Association (APA)
Wang, Can& Wu, Xinyu& Ma, Yue& Wu, Guizhong& Luo, Yuhao. 2018. A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification. Complexity،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1134760
Modern Language Association (MLA)
Wang, Can…[et al.]. A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification. Complexity No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1134760
American Medical Association (AMA)
Wang, Can& Wu, Xinyu& Ma, Yue& Wu, Guizhong& Luo, Yuhao. A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification. Complexity. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1134760
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134760