Gait mode recognition using an inertial measurement unit to control an ankle-foot orthosis during stair ascent and descent

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Powered ankle-foot orthoses have significant potential as both assistance and rehabilitation devices for individuals with lower limb muscle impairments. Recently, we developed an untethered pneumatically powered ankle-foot orthosis (PPAFO) for outside-the-lab walking assistance or therapy. It is critical to recognize gait modes (i.e. level walking, stair ascend/descend) because improper actuation can dramatically increase fall risk. Gait mode recognition is a challenging task for the PPAFO because the sensor array is very limited and a new mode must be recognized at the earliest possible time to prevent inappropriate actuation and decrease fall potential. While manual mode switching is implemented in most powered orthotic/prosthetic device control algorithms, we propose an automatic gait mode recognition scheme by tracking the 3D position of the PPAFO from an inertial measurement unit (IMU). The experiment results showed that, with an optimized threshold, the controller was able to identify the position and gait mode at the very beginning of the mode change, to allow for proper actuation control.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages743-752
Number of pages10
DOIs
StatePublished - Dec 1 2012
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume1

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Li, Y. D., & Hsiao-Wecksler, E. T. (2012). Gait mode recognition using an inertial measurement unit to control an ankle-foot orthosis during stair ascent and descent. In ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 (pp. 743-752). (ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012; Vol. 1). https://doi.org/10.1115/DSCC2012-MOVIC2012-8651