TY - GEN
T1 - A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion
AU - Yuan, Kebin
AU - Sun, Shiqi
AU - Wang, Zikang
AU - Wang, Qining
AU - Wang, Long
PY - 2013
Y1 - 2013
N2 - This paper presents a fuzzy logic based terrain identification method using multi-sensor fusion for powered prosthesis control. Five locomotion features including rising time of ground reaction force, sequence of foot strike on ground, foot inclination angle during stance, shank inclination angle at toe-off and maximal shank inclination angle during swing are selected to identify different terrains. These features are measured by fusion of two gyroscopes, two accelerometers, two force sensitive resistors and a timer. Based on the features, a fuzzy logic identification method is developed to identify level-ground, stair ascent, stair descent, upslope and downslope online in real time. Average identification accuracy higher than 97.5% is obtained in experiments of five able-bodied subjects and a transtibial amputee. Continuous identification results show the prospect of using the proposed method to realize real-time terrain identification of powered prostheses.
AB - This paper presents a fuzzy logic based terrain identification method using multi-sensor fusion for powered prosthesis control. Five locomotion features including rising time of ground reaction force, sequence of foot strike on ground, foot inclination angle during stance, shank inclination angle at toe-off and maximal shank inclination angle during swing are selected to identify different terrains. These features are measured by fusion of two gyroscopes, two accelerometers, two force sensitive resistors and a timer. Based on the features, a fuzzy logic identification method is developed to identify level-ground, stair ascent, stair descent, upslope and downslope online in real time. Average identification accuracy higher than 97.5% is obtained in experiments of five able-bodied subjects and a transtibial amputee. Continuous identification results show the prospect of using the proposed method to realize real-time terrain identification of powered prostheses.
UR - https://www.scopus.com/pages/publications/84887290442
U2 - 10.1109/ICRA.2013.6631048
DO - 10.1109/ICRA.2013.6631048
M3 - 会议稿件
AN - SCOPUS:84887290442
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3376
EP - 3381
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -