A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification

	A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification
	Can Wang; Xinyu Wu; Yua Ma; Guizhong Wu; Yuhao Luo
刊名	COMPLEXITY
	2018
文献子类	期刊论文
英文摘要	This paper presents a bio-inspired lower extremity exoskeleton robot. The proposed exoskeleton robot can be adjusted in structure to meet the wearer's height of 150-185cm and has good gait stability. In the gait control part, a method of identifying different locomotion modes is proposed, five common locomotion modes are considered in this paper, including sitting down, standing up, level-ground walking, ascending stairs, and descending stairs. The identification is depended on angle information of hip, knee and ankle joints. A deep locomotion mode identification model (DLMIM) based on Long Short Term Memory (LSTM) architecture is proposed in this paper for exploiting the angle data. We conducted two experiments to verify the effectiveness of the proposed method. Experimental results show the DLMIM is capable of learning inherent characteristics of joint angles and achieves more accurate identification than other models. The last experiment demonstrates that the DLMIM can recognize transitions between different locomotion modes in time and the real-time performance varies with each individual.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13672]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Can Wang,Xinyu Wu,Yua Ma,et al. A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification[J]. COMPLEXITY,2018.
APA	Can Wang,Xinyu Wu,Yua Ma,Guizhong Wu,&Yuhao Luo.(2018).A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification.COMPLEXITY.
MLA	Can Wang,et al."A Flexible Lower Extremity Exoskeleton Robot with Deep Locomotion Mode Identification".COMPLEXITY (2018).