title: Online phase detection using wearable sensors for walking with a robotic prosthesis.
abstract: This paper presents a gait phase detection algorithm for providing feedback in walking with a robotic prosthesis. The algorithm utilizes the output signals of a wearable wireless sensory system incorporating sensorized shoe insoles and inertial measurement units attached to body segments. The principle of detecting transitions between gait phases is based on heuristic threshold rules, dividing a steady-state walking stride into four phases. For the evaluation of the algorithm, experiments with three amputees, walking with the robotic prosthesis and wearable sensors, were performed. Results show a high rate of successful detection for all four phases (the average success rate across all subjects >90%). A comparison of the proposed method to an off-line trained algorithm using hidden Markov models reveals a similar performance achieved without the need for learning dataset acquisition and previous model training.
authors: Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia. maja.gorsic@robo.fe.uni-lj.si.
authors: Maja
authors: M
authors: Goršič
authors: Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia. roman.kamnik@robo.fe.uni-lj.si.
authors: Roman
authors: R
authors: Kamnik
authors: Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia. luka.ambrozic@robo.fe.uni-lj.si.
authors: Luka
authors: L
authors: Ambrožič
authors: The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, Pontedera 56025, Pisa, Italy. n.vitiello@sssup.it.
authors: Nicola
authors: N
authors: Vitiello
authors: Vrije Universiteit Brussel, Faculty of Applied Sciences, Pleinlaan 2, Brussels B-1050, Belgium. dlefeber@vub.ac.be.
authors: Dirk
authors: D
authors: Lefeber
authors: Fondazione don Carlo Gnocchi, Florence 50018, Italy. gupasquini@dongnocchi.it.
authors: Guido
authors: G
authors: Pasquini
authors: Faculty of Electrical Engineering, University of Ljubljana, Tržaška 25, Ljubljana 1000, Slovenia. marko.munih@robo.fe.uni-lj.si.
authors: Marko
authors: M
authors: Munih