Walking Classification of Hip Joint Lower Limb Exoskeleton

Analia, Riska; M, Joshua Ferdinand.; Susanto, Susanto; Sutopo, P Daniel; Soebhakti, Hendawan; Sani, Abdullah

doi:10.1109/icae47758.2019.9221701

Cited by 1 publication

(4 citation statements)

References 8 publications

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“…As presented on Figure 2c, the robot was equipped with two servo motors as the actuator, and a mini-PC Intel NUC as the main controller to control the motion and the gait cycle identification. The sensor was placed on waists 6 IMU [26] The sensor was placed on trouser pocket 7 IMU [27] The sensor placed on pelvis 8 IMU [28] The sensor placed on hip joints 9 IMU [32] The sensor placed on chest…”

Section: Sensor Placementmentioning

confidence: 99%

“…As for the IMU sensor, several researchers have used this sensor in order to recognize the human walking phases with different sensor placement and approaches. The sensor can be placed in the user's trouser pocket [28], pelvis [29], on the hip and knee joint [30,31], and chest [32]. Besides sensors, the actuators also play an important role [33].…”

Section: Introductionmentioning

confidence: 99%

“…The aim of this work is to identify the walking gait cycle where the IMU sensor can be attached to the human body; so that it can be integrated to the exoskeleton robot. In contrast with our previous work [32], in this work, we identified the human walking gait cycle by only looking at the information provided by the IMU sensors (only pitch angle) placed on both thighs for the knee joint. A number of methods to identify the gait cycle of the exoskeleton user has been presented.…”

Section: Introductionmentioning

confidence: 99%

“…Experiments carried out in this work include walking on a flat surface, climbing up and walking down stairs with multiple samples. [19] Captured human walking then perform the body part modeling 5 IMU [24] The sensor was placed on waists 6 IMU [26] The sensor was placed on trouser pocket 7 IMU [27] The sensor placed on pelvis 8 IMU [28] The sensor placed on hip joints 9 IMU [32] The sensor placed on chest…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Identification of Knee Joint Walking Gait as Preliminary Signal for Developing Lower Limb Exoskeleton

et al. 2021

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An exoskeleton is a device used for walking rehabilitation. In order to develop a proper rehabilitation exoskeleton, a user’s walking intention needs to be captured as the initial step of work. Moreover, every human has a unique walking gait style. This work introduced a wearable sensor, which aimed to recognize the walking gait phase, as the fundamental step before applying it into the rehabilitation exoskeleton. The sensor used in this work was the IMU sensor, used to recognize the pitch angle generated from the knee joint while the user walks, as information about the walking gait cycle, before doing the investigation on how to identify the walking gait cycle. In order to identify the walking gait cycle, Neural Network has been proposed as a method. The gait cycle identification was generated to recognize the gait cycle on the knee joint. To verify the performance of the proposed method, experiments have been done in real-time application. The experiments were carried out with different processes such as walking on a flat floor, climbing up, and walking down stairs. Five subjects were trained and tested using the system. The experiments showed that the proposed method was able to recognize each gait cycle for all users as they wore the sensor on their knee joints. This study has the potential to be applied on an exoskeleton rehabilitation robot as a further research experiment.

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