No abstract

Gait phase recognition is of great importance in the development of rehabilitation devices. The advantages of Long Short-Term Memory (LSTM) and Convolutional Neural Network (CNN) are combined (LSTM-CNN) in this paper, then a gait phase recognition method based on LSTM-CNN neural network model is proposed. In the LSTM-CNN model, the LSTM layer is used to process temporal sequences and the CNN layer is used to extract features A wireless sensor system including six inertial measurement units (IMU) fixed on the six positions of the lower limbs was developed. The difference in the gait recognition performance of the LSTM-CNN model was estimated using different groups of input data collected by seven different IMU grouping methods. Four phases in a complete gait were considered in this paper including the supporting phase with the right hill strike (SU-RHS), left leg swimming phase (SW-L), the supporting phase with the left hill strike (SU-LHS), and right leg swimming phase (SW-R). The results show that the best performance of the model in gait recognition appeared based on the group of data from all the six IMUs, with the recognition precision and macro-F1 unto 95.03% and 95.29%, respectively. At the same time, the best phase recognition accuracy for SU-RHS and SW-R appeared and up to 96.49% and 95.64%, respectively. The results also showed the best phase recognition accuracy (97.22%) for SW-L was acquired based on the group of data from four IMUs located at the left and right thighs and shanks. Comparably, the best phase recognition accuracy (97.86%) for SU-LHS was acquired based on the group of data from four IMUs located at left and right shanks and feet. Ulteriorly, a novel gait recognition method based on Data Pre-Filtering Long Short-Term Memory and Convolutional Neural Network (DPF-LSTM-CNN) model was proposed and its performance for gait phase recognition was evaluated. The experiment results showed that the recognition accuracy reached 97.21%, which was the highest compared to Deep convolutional neural networks (DCNN) and CNN-LSTM.

Ankle joint moment is an important indicator for evaluating the stability of the human body during the sit-to-stand (STS) movement, so a method to analyze ankle joint moment is needed. In this study, a wearable sensor system that could derive surface-electromyography (sEMG) signals and kinematic signals on the lower limbs was developed for non-invasive estimation of ankle muscle dynamics during the STS movement. Based on the established ankle joint musculoskeletal information and sEMG signals, ankle joint moment during the STS movement was calculated. In addition, based on a four-segment STS dynamic model and kinematic signals, ankle joint moment during the STS movement was calculated using the inverse dynamics method. Ten healthy young people participated in the experiment, who wore a self-developed wearable sensor system and performed STS movements as an experimental task. The results showed that there was a high correlation (all R ≥ 0.88) between the results of the two methods for estimating ankle joint moment. The research in this paper can provide theoretical support for the development of an intelligent bionic joint actuator and clinical rehabilitation evaluation.