This paper presents a novel methodology for estimating the gait phase of human walking through a simple sensory apparatus. Three subsystems are combined: a primary phase estimator based on adaptive oscillators, a desired gait event detector and a phase error compensator. The estimated gait phase is expected to linearly increase from 0 to 2π rad in one stride and remain continuous also when transiting to the next stride.We designed two experimental scenarios to validate this gait phase estimator, namely treadmill walking at different speeds and free walking. In the case of treadmill walking, the maximum phase error at the desired gait events was found to be 0.155 rad, and the maximum phase difference between the end of the previous stride and beginning of the current stride was 0.020 rad. In the free walking trials, phase error at the desired gait event was never larger than 0.278 rad. Our algorithm outperformed against two other benchmarked methods. The good performance of our gait phase estimator could provide consistent and finely tuned assistance for an exoskeleton designed to augment the mobility of patients.


    Access

    Download


    Export, share and cite



    Title :

    An oscillator-based smooth real-time estimate of gait phase for wearable robotics



    Publication date :

    2017-01-01


    Remarks:

    Autonomous Robots, Vol. 41, no. 3, p. 759–774 (2017)



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Wearable sensor-based real-time gait detection:A systematic review

    Prasanth, Hari / Caban, Miroslav / Keller, Urs et al. | BASE | 2021

    Free access

    WEARABLE SENSORS BASED REAL-TIME MONITORING OF GAIT KINEMATICS FOR LOWER EXTREMITY EXOSKELETONS

    Rahul Malhotra / Saurav Pratap Singh / K. Mohanavelu et al. | BASE | 2021

    Free access

    Adaptive real-time tool for human gait event detection using a wearable gyroscope

    Félix, Paulo / Figueiredo, Joana / Santos, Cristina et al. | BASE | 2018

    Free access