The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Gait Phase Estimation Method Adaptable to Changes in Gait Speed on Level Ground and Stairs

평지 및 계단 환경에서 보행 속도 변화에 대응 가능한 웨어러블 로봇의 보행 위상 추정 방법

  • Received : 2022.11.23
  • Accepted : 2023.03.13
  • Published : 2023.05.31
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Abstract

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to have technology that can accurately estimate gait phase even in the walking environment and walking speed of the wearer that changes frequently. In this paper, we implement an LSTM-based gait phase estimation learning model by collecting gait data according to changes in gait speed in outdoor level ground and stair environments. In addition, the results of the gait phase estimation error for each walking environment were compared after learning for both max hip extension (MHE) and max hip flexion (MHF), which are ground truth criteria in gait phase divided in previous studies. As a result, the average error rate of all walking environments using MHF reference data and MHE reference data was 2.97% and 4.36%, respectively, and the result of using MHF reference data was 1.39% lower than the result of using MHE reference data.

Keywords

Acknowledgement

This work was supported in part by Korea Institute of Science and Technology Institutional Program under Grant KIST 2E31561, in part by Korea Advanced Research Program through the National Research Foundation of Korea (NRF) funded by Ministry of Science and ICT (2020M3H8A1115027)

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