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Adaptive estimation of continuous gait phase based on capacitive sensors
Dongfang Xu1,2, Zhitong Zhang1,3, Simona Crea4,5,6
1Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University, Beijing 100871, China.
Wearable Technologies
|March 15, 2024
Summary
Researchers developed a new method to estimate continuous gait phase in robotic transtibial prostheses using capacitive signals from residual muscles. This advancement aids in developing more responsive and natural prosthetic limb control.
Area of Science:
- Robotics
- Biomedical Engineering
- Prosthetics
Background:
- Continuous gait phase estimation is crucial for advanced robotic prosthesis control.
- Existing methods may lack the precision needed for seamless prosthetic limb function.
Purpose of the Study:
- To develop and validate an offline adaptive estimation method for continuous gait phase in transtibial prostheses.
- To utilize capacitive sensing of residual limb muscles for gait phase detection.
Main Methods:
- Employed adaptive oscillators for gait phase estimation.
- Utilized capacitive sensing to record muscle deformation signals.
- Collected data from two transtibial amputees across various speeds and inclines.
Main Results:
- Achieved maximum and minimum estimation errors of 0.80 rad and 0.054 rad, respectively.
- Errors represented 1.27% and 0.86% of a gait cycle, demonstrating high accuracy.
- Validated the method's effectiveness on different speeds and ramps.
Conclusions:
- Proposed an effective method for continuous gait phase estimation using residual muscle capacitive signals.
- The findings provide a foundation for real-time, continuous control of robotic transtibial prostheses.
- This technique enhances the potential for more intuitive and adaptive prosthetic limb functionality.
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