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[A pace recognition method for exoskeleton wearers based on support vector machine-hidden Markov model].

Dong Hu1, Zuojun Liu1, Lingling Chen1

  • 1The School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, P. R. China.

Sheng Wu Yi Xue Gong Cheng Xue Za Zhi = Journal of Biomedical Engineering = Shengwu Yixue Gongchengxue Zazhi
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Summary
This summary is machine-generated.

This study introduces a new method using inertial sensors to recognize the wearer's pace for lower extremity exoskeleton robots. This approach effectively identifies walking intentions, improving exoskeleton control and motion fluency.

Keywords:
Hidden Markov modelLower extremity exoskeletonMotion intentPace recognitionSupport vector machine

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Area of Science:

  • Robotics
  • Biomechanics
  • Sensor Technology

Background:

  • Lower extremity exoskeleton robots require improved motion fluency and coordination for effective human-machine interaction.
  • Accurate recognition of wearer's pace is crucial for seamless control of exoskeleton devices.

Purpose of the Study:

  • To propose and validate a novel pace recognition method for exoskeleton wearers using inertial sensors.
  • To enhance the motion fluency and coordination of lower extremity exoskeleton robots.

Main Methods:

  • Collected triaxial acceleration and angular velocity data from thigh and calf using inertial sensors.
  • Extracted frequency domain features using Fourier transform coefficients from time-windowed signals.
  • Developed a hybrid classification model combining Support Vector Machine (SVM) and Hidden Markov Model (HMM) for pace recognition.

Main Results:

  • The proposed method achieved an effective identification of wearer's pace intention.
  • The recognition rate for seven distinct pace patterns reached 92.14%.
  • Integration of pace change rules and human-machine interaction forces improved pace prediction.

Conclusions:

  • The developed pace recognition method offers a new pathway for the smooth and intuitive control of lower extremity exoskeletons.
  • This technique significantly enhances the performance and user experience of exoskeleton technology.