Multiple sensor outputs and computational intelligence towards estimating state and speed for control of lower limb prostheses

Pamela A. Hardaker, Benjamin N. Passow, D. Elizondo
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Abstract

For as long as people have been able to survive limb threatening injuries prostheses have been created. Modern lower limb prostheses are primarily controlled by adjusting the amount of damping in the knee to bend in a suitable manner for walking and running. Often the choice of walking state or running state has to be controlled manually by pressing a button. This paper examines how this control could be improved using sensors attached tofa the limbs of two volunteers. The signals from the sensors had features extracted which were passed through a computational intelligence system. The system was used to determine whether the volunteer was walking or running and their movement speed. Two new features are presented which identify the movement states of standing, walking and running and the movement speed of the volunteer. The results suggest that the control of the prosthetic limb could be improved.
基于多传感器输出和计算智能的下肢假肢控制状态和速度估计
只要人们能够在肢体受到威胁的伤害后存活下来,假肢就会被创造出来。现代下肢假体主要通过调节膝关节的阻尼量来控制,使其以适合行走和跑步的方式弯曲。通常,行走状态或运行状态的选择必须通过按下按钮手动控制。本文研究了如何使用连接在两名志愿者四肢上的传感器来改进这种控制。从传感器中提取的信号特征通过计算智能系统传递。该系统被用来确定志愿者是在走还是在跑,以及他们的运动速度。提出了两个新的特征来识别志愿者的站立、行走和奔跑的运动状态和运动速度。结果表明,该方法可以提高假肢的控制能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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