Gait Phase Detection on Level and Inclined Surfaces for Human Beings with an Orthosis and Humanoid Robots
- In this paper, we propose an approach for gait phase detection for flat and inclined surfaces that can be used for an ankle-foot orthosis and the humanoid robot Sweaty. To cover different use cases, we use a rule-based algorithm. This offers the required flexibility and real-time capability. The inputs of the algorithm are inertial measurement unit and ankle joint angle signals. We show that theIn this paper, we propose an approach for gait phase detection for flat and inclined surfaces that can be used for an ankle-foot orthosis and the humanoid robot Sweaty. To cover different use cases, we use a rule-based algorithm. This offers the required flexibility and real-time capability. The inputs of the algorithm are inertial measurement unit and ankle joint angle signals. We show that the gait phases with the orthosis worn by a human participant and with Sweaty are reliably recognized by the algorithm under the condition of adapted transition conditions. E.g., the specificity for human gait on flat surfaces is 92 %. For the robot Sweaty, 95 % results in fully recognized gait cycles. Furthermore, the algorithm also allows the determination of the inclination angle of the ramp. The sensors of the orthosis provide 6.9 and that of the robot Sweaty 7.7 when walking onto the reference ramp with slope angle 7.9.…
Document Type: | Conference Proceeding |
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Conference Type: | Konferenzartikel |
Zitierlink: | https://opus.hs-offenburg.de/8184 | Bibliografische Angaben |
Title (English): | Gait Phase Detection on Level and Inclined Surfaces for Human Beings with an Orthosis and Humanoid Robots |
Conference: | RoboCup 2022, 13-17 July 2022, Bangkok, Thailand |
Author: | Maximilian GießlerStaff MemberGND, Marc BreigStaff Member, Virginia Wolf, Fabian SchnekenburgerGND, Ulrich HochbergStaff MemberGND, Steffen WillwacherStaff MemberORCiDGND |
Edition: | 1. |
Year of Publication: | 2023 |
Place of publication: | Cham |
Publisher: | Springer |
First Page: | 39 |
Last Page: | 49 |
Parent Title (English): | RoboCup 2022: Robot World Cup XXV |
Editor: | Amy Eguchi, Nuno Lau, Maike Paetzel-Prüsmann, Thanapat Wanichanon |
ISBN: | 978-3-031-28468-7 (Softcover) |
ISBN: | 978-3-031-28469-4 (eBook) |
DOI: | https://doi.org/10.1007/978-3-031-28469-4_4 |
Language: | English | Inhaltliche Informationen |
Institutes: | Fakultät Maschinenbau und Verfahrenstechnik (M+V) |
Forschung / IBMS - Institute for Advanced Biomechanics and Motion Studies (ab 16.11.2022) | |
Institutes: | Bibliografie |
Projekte / Sweaty | |
Tag: | Gait phase detection; Humanoid robot; Inclined surface; Inertial measurement unit; Sweaty; orthosis | Formale Angaben |
Relevance: | Konferenzbeitrag: h5-Index < 30 |
Open Access: | Closed |
Licence (German): | Urheberrechtlich geschützt |