- Fashu Xu ORCID:orcid.org/0000-0001-9696-393315,16,
- Wenjun Huang17,
- Hao He18,
- Nan Li18,
- Hongchen He ORCID:orcid.org/0000-0002-3016-022X19 &
- …
- Kang Li ORCID:orcid.org/0000-0002-8136-981615,16
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Abstract
The soft exosuit has been proven to improve the pilot’s walking ability and reduce metabolic consumption, yet, its gait assistance strategy still suffers from the problem of insufficient personalized adaption. This paper proposes a Segmented Dynamic Movement Primitives (SDMPs) -based gait assistive strategy to address this problem. This strategy uses a gait detection algorithm to divide a complete gait cycle into four segments, and establishes independent Dynamic Movement Primitives (DMPs) to learn each segment. Meanwhile, the normal gait trajectory is referenced and the personalized gait is generated with the spatial-temporal parameters of each DMPs adjusted automatically according to the sensor data. Experimental results show that the gait of SDMPs is superior to those generated by the traditional method and DMPs. The force feedback indicates that the gait generated using SDMPs can quickly pull the joint to reach the desired position in the plantar flexion phase and then quickly complete the tension release, which is obviously better than other methods. This method can serve as a new personalized gait assistance strategy for soft ankle exosuits.
This work was supported by the National Natural Science Foundation of China (Grant No. 92248304), the 1 3 5 project for disciplines of excellence, West China Hospital, Sichuan University (ZYYC21004).
F. Xu and W. Huang—Contributed equally to this work and should be considered co-first authors.
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Authors and Affiliations
Department of Rehabilitation Medicine and West China Biomedical Big Data Center, West China Hospital, Sichuan University, Chengdu, China
Fashu Xu & Kang Li
Med-X Center for Informatics, Sichuan University, Chengdu, China
Fashu Xu & Kang Li
College of Electrical Engineering, Sichuan University, Chengdu, China
Wenjun Huang
Department of Mechanical Engineering, Sichuan University - Pittsburgh Institute, Sichuan University, Chengdu, China
Hao He & Nan Li
Department of Rehabilitation Medicine and Institute of Rehabilitation Medicine, West China Hospital, Sichuan University, Chengdu, China
Hongchen He
- Fashu Xu
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- Wenjun Huang
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- Hao He
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- Nan Li
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- Hongchen He
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- Kang Li
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Correspondence toKang Li.
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Editors and Affiliations
Zhejiang University, Hangzhou, China
Huayong Yang
Harbin Institute of Technology, Shenzhen, China
Honghai Liu
Zhejiang University, Hangzhou, China
Jun Zou
Huazhong University of Science and Technology, Wuhan, China
Zhouping Yin
Shenyang Institute of Automation, Shenyang, Liaoning, China
Lianqing Liu
Zhejiang University, Hangzhou, China
Geng Yang
Zhejiang University, Hangzhou, China
Xiaoping Ouyang
Harbin Institute of Technology, Shenzhen, China
Zhiyong Wang
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Xu, F., Huang, W., He, H., Li, N., He, H., Li, K. (2023). A Segmented Dynamic Movement Primitives-Based Gait Assistive Strategy for Soft Ankle Exosuit. In: Yang, H.,et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14272. Springer, Singapore. https://doi.org/10.1007/978-981-99-6480-2_38
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