Chereshnev, R.; Kertész-Farkas, A. GaIn: Human Gait Inference for Lower Limbic Prostheses for Patients Suffering from Double Trans-Femoral Amputation. Sensors2018, 18, 4146.
Chereshnev, R.; Kertész-Farkas, A. GaIn: Human Gait Inference for Lower Limbic Prostheses for Patients Suffering from Double Trans-Femoral Amputation. Sensors 2018, 18, 4146.
Chereshnev, R.; Kertész-Farkas, A. GaIn: Human Gait Inference for Lower Limbic Prostheses for Patients Suffering from Double Trans-Femoral Amputation. Sensors2018, 18, 4146.
Chereshnev, R.; Kertész-Farkas, A. GaIn: Human Gait Inference for Lower Limbic Prostheses for Patients Suffering from Double Trans-Femoral Amputation. Sensors 2018, 18, 4146.
Abstract
Several studies have analyzed human gait data obtained from inertial gyroscope and accelerometer sensors mounted on different parts of the body. In this article, we take a step further in gait analysis and provide a methodology for predicting the movements of the missing parts of the legs. In particular, we propose a method, called GaIn, to control non-invasive, robotic, prosthetic legs. GaIn can infer the movements of both missing shanks and feet for humans suffering from double trans-femoral amputation using biologically inspired recurrent neural networks. Predictions are performed for casual walking related activities such as walking, taking stairs, and running based on thigh movement. In our experimental tests, GaIn achieved a 4.55 degree prediction error for shank movements on average. However, a patient's intention to stand up and sit down cannot be inferred from thigh movements. In fact, intention causes thigh movements while the shanks and feet remain roughly still. The GaIn system can be triggered by thigh muscle activities measured with electromyography (EMG) sensors to make robotic prosthetic legs perform standing up and sitting down actions. The GaIn system has low prediction latency and is fast and computationally inexpensive to be deployed on mobile platforms and portable devices.
Keywords
human activity recognition; gait analysis; human gait inference; wearable sensors; limb amputation; lower limbic prosthesis; machine learning; recurrent neural networks
Subject
Computer Science and Mathematics, Robotics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
