Abstract
In the current study, our research group proposed an asymmetric lower extremity exoskeleton to enable above-knee amputees to walk with a load. Due to the absence of shank and foot, the knee and ankle joint at the amputation side of the exoskeleton lack tracking targets, so it is difficult to realize the function of assisted walking when going up and downstairs. Currently, the use of lower-limb electromyography to predict the angles of lower limb joints has achieved remarkable results. However, the prediction effect was poor when only using electromyography from the thigh. Therefore, this paper introduces hip-angle and plantar pressure signals for improving prediction effect and puts forward a joint prediction method of knee- and ankle-joint angles by electromyography of the thigh, hip-joint angle, and plantar pressure signals. The generalized regression neural network optimized by the golden section method is used to predict the joint angles. Finally, the parameters (the maximum error, the Root-Mean-Square error (RMSE), and correlation coefficient ()) were calculated to verify the feasibility of the prediction method.
Highlights
Sensors 2021, 21, 7199. https://The number of patients with lower-limb disabilities has been rapidly increasing
We found that the signal is closelymethods related to on the support period has the characteristic existing prediction based angle and surface that electromyography (sEMG)
This paper optimizes the joint-angle prediction method by integrating hip-joint angle signals, sEMG signals, and plantar pressure signals to solve the problem of online gait planning of asymmetric lower extremity exoskeletons
Summary
The number of patients with lower-limb disabilities has been rapidly increasing. Most of them have lost their lower limbs due to natural disasters, traffic accidents and wars [1,2]. Prostheses are the most significant tools to compensate for the walking function of lower-limb amputees [3,4,5,6,7]. Most prostheses on the market, either passive or semiactive, cannot realize the joints’ active swinging, and fail to achieve assisted walking [8]. The lower extremity exoskeleton (LEE) assists amputees in rehabilitation training [9,10,11]. The LEE has been widely used in marching, weight-bearing combat, and medical rehabilitation proposes [12,13]
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