Abstract
This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based on heuristic threshold rules, dividing a steady-state walking stride into four phases. For the evaluation of the algorithm, experiments with three amputees, walking with the robotic prosthesis and wearable sensors, were performed. Results show a high rate of successful detection for all four phases (the average success rate across all subjects >90%). A comparison of the proposed method to an off-line trained algorithm using hidden Markov models reveals a similar performance achieved without the need for learning dataset acquisition and previous model training.
Highlights
Prostheses efficiently replace a lost limb after amputation
This paper presents an algorithm for real-time stride cycle phase detection utilizing a whole body wireless wearable sensory system
Left to right (L-R) double stance occurs after the left single stance phase, and right to left (R-L) double stance occurs after the right single stance phase
Summary
Prostheses efficiently replace a lost limb after amputation. Lower-limb prostheses enable the recovery of functional movements in the everyday life of an amputee, such as standing up, walking and stair climbing. Lower-limb prostheses have evolved from simple passive walking aids, attached to a stump, to complex devices that incorporate damping mechanisms, microprocessor control and actuators, together aiming at achieving symmetrical, stable and more energy-efficient motion. The state-of-the-art of commercially available prostheses for lower extremities incorporates advanced design based on lightweight materials and passive components for assuring more human-like walking. Commercial products enable walking at ground-level at different speeds, while only some of them are appropriate for slope and stairs negotiation. Powered prostheses are still rare on the market, and they are lacking a conceptual control based on human activity observation
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
