A Novel Motion Intention Recognition Approach for Soft Exoskeleton via IMU

作者：Lu Zhu, Zhuo Wang, Zhigang Ning, Yu Zhang, Yida Liu, Wujing Cao, Xinyu Wu, Chunjie Chen · 发表于：Electronics · 年份：2020 · DOI：10.3390/electronics9122176 · 被引用次数：74 · 研究领域：Prosthetics and Rehabilitation Robotics、Stroke Rehabilitation and Recovery、Context-Aware Activity Recognition Systems

To solve the complexity of the traditional motion intention recognition method using a multi-mode sensor signal and the lag of the recognition process, in this paper, an inertial sensor-based motion intention recognition method for a soft exoskeleton is proposed. Compared with traditional motion recognition, in addition to the classic five kinds of terrain, the recognition of transformed terrain is also added. In the mode acquisition, the sensors’ data in the thigh and calf in different motion modes are collected. After a series of data preprocessing, such as data filtering and normalization, the sliding window is used to enhance the data, so that each frame of inertial measurement unit (IMU) data keeps the last half of the previous frame’s historical information. Finally, we designed a deep convolution neural network which can learn to extract discriminant features from temporal gait period to classify different terrain. The experimental results show that the proposed method can recognize the pose of the soft exoskeleton in different terrain, including walking on flat ground, going up and downstairs, and up and down slopes. The recognition accuracy rate can reach 97.64%. In addition, the recognition delay of the conversion pattern, which is converted between the five modes, only accounts for 23.97% of a gait cycle. Finally, the oxygen consumption was measured by the wearable metabolic system (COSMED K5, The Metabolic Company, Rome, Italy), and compared with that without an i...