MLP Based Continuous Gait Recognition of a Powered Ankle Prosthesis with Serial Elastic Actuator
arxiv(2023)
Abstract
Powered ankle prostheses effectively assist people with lower limb amputation
to perform daily activities. High performance prostheses with adjustable
compliance and capability to predict and implement amputee's intent are crucial
for them to be comparable to or better than a real limb. However, current
designs fail to provide simple yet effective compliance of the joint with full
potential of modification, and lack accurate gait prediction method in real
time. This paper proposes an innovative design of powered ankle prosthesis with
serial elastic actuator (SEA), and puts forward a MLP based gait recognition
method that can accurately and continuously predict more gait parameters for
motion sensing and control. The prosthesis mimics biological joint with similar
weight, torque, and power which can assist walking of up to 4 m/s. A new design
of planar torsional spring is proposed for the SEA, which has better stiffness,
endurance, and potential of modification than current designs. The gait
recognition system simultaneously generates locomotive speed, gait phase, ankle
angle and angular velocity only utilizing signals of single IMU, holding
advantage in continuity, adaptability for speed range, accuracy, and capability
of multi-functions.
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