Gait Phase Estimation of Unsupervised Outdoors Walking Using IMUs and a Linear Regression Model

Soliman, Ahmed; Ribeiro, Guilherme Aramizo; Torres, Andres; Wu, Li-Fan; Rastgaar, Mo

doi:10.1109/access.2022.3227344

Cited by 4 publications

(3 citation statements)

References 39 publications

(44 reference statements)

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“…We found heel strikes and toe offs from IMUs on the lateral longitudinal arch of the feet. We found the peaks in vertical acceleration surrounding the near zero velocity region that indicates stance phase similar to what is described in previous research [ 43 ]. We ensured the validity of the gait events by comparing the IMU detected gait events and treadmill detected gait events during our indoor walking trials.…”

Section: Methodssupporting

confidence: 87%

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Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control

Hybart,

Ferris

2023

PLoS ONE

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Lower limb robotic exoskeletons are often studied in the context of steady-state treadmill walking in laboratory environments. However, the end goal of these devices is often adoption into our everyday lives. To move outside of the laboratory, there is a need to study exoskeletons in real world, complex environments. One way to study the human-machine interaction is to look at how the exoskeleton affects the user’s gait. In this study we assessed changes in gait spatiotemporal variability when using a robotic ankle exoskeleton under proportional myoelectric control both inside on a treadmill and outside overground. We hypothesized that walking with the exoskeletons would not lead to significant changes in variability inside on a treadmill or outside compared to not using the exoskeletons. In addition, we hypothesized that walking outside would lead to higher variability both with and without the exoskeletons compared to treadmill walking. In support of our hypothesis, we found significantly higher coefficients of variation of stride length, stance time, and swing time when walking outside both with and without the exoskeleton. We found a significantly higher variability when using the exoskeletons inside on the treadmill, but we did not see significantly higher variability when walking outside overground. The value of this study to the literature is that it emphasizes the importance of studying exoskeletons in the environment in which they are meant to be used. By looking at only indoor gait spatiotemporal measures, we may have assumed that the exoskeletons led to higher variability which may be unsafe for certain target populations. In the context of the literature, we show that variability due to robotic ankle exoskeletons under proportional myoelectric control does not elicit different changes in stride time variability than previously found in other daily living tasks (uneven terrain, load carriage, or cognitive tasks).

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Section: Methodssupporting

confidence: 87%

“…indicates stance phase similar to what is described in previous research [43]. We ensured the validity of the gait events by comparing the IMU detected gait events and treadmill detected gait events during our indoor walking trials.…”

Section: Plos Onementioning

confidence: 62%

Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control

Hybart,

Ferris

2023

PLoS ONE

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“…While indoor treadmill walking provides steady-state conditions, it cannot accurately reflect all aspects of a real-world environment. Outdoor trials reflect the presence of obstacle avoidance, variable walking speed, changes in direction, and uneven terrain ( Parker et al, 2021 ; Schmitt et al, 2021 ; Semaan et al, 2022 ; Soliman et al, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

Metabolic cost of walking with electromechanical ankle exoskeletons under proportional myoelectric control on a treadmill and outdoors

Hybart,

Villancio-Wolter,

Ferris

2023

PeerJ

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Lower limb robotic exoskeletons are often studied in the context of steady state treadmill walking in a laboratory environment. However, the end goal for exoskeletons is to be used in real world, complex environments. To reach the point that exoskeletons are openly adopted into our everyday lives, we need to understand how the human and robot interact outside of a laboratory. Metabolic cost is often viewed as a gold standard metric for measuring exoskeleton performance but is rarely used to evaluate performance at non steady state walking outside of a laboratory. In this study, we tested the effects of robotic ankle exoskeletons under proportional myoelectric control on the cost of transport of walking both inside on a treadmill and outside overground. We hypothesized that walking with the exoskeletons would lead to a lower cost of transport compared to walking without them both on a treadmill and outside. We saw no significant increases or decreases in cost of transport or exoskeleton mechanics when walking with the exoskeletons compared to walking without them both on a treadmill and outside. We saw a strong negative correlation between walking speed and cost of transport when walking with and without the exoskeletons. In the future, research should consider how performing more difficult tasks, such as incline and loaded walking, affects the cost of transport while walking with and without robotic ankle exoskeletons. The value of this study to the literature is that it emphasizes the importance of both hardware dynamics and controller design towards reducing metabolic cost of transport with robotic ankle exoskeletons. When comparing our results to other studies using the same hardware with different controllers or very similar controllers with different hardware, there are a wide range of outcomes as to metabolic benefit.

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Gait Recognition Based on Modified OVR-CSP Fusion Feature and LSTM

Dong,

Gao,

et al. 2024

2024 7th International Conference on Advanced Algorithms and Control Engineering (ICAACE)

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Gait Phase Estimation of Unsupervised Outdoors Walking Using IMUs and a Linear Regression Model

Cited by 4 publications

References 39 publications

Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control

Gait variability of outdoor vs treadmill walking with bilateral robotic ankle exoskeletons under proportional myoelectric control

Metabolic cost of walking with electromechanical ankle exoskeletons under proportional myoelectric control on a treadmill and outdoors

Gait Recognition Based on Modified OVR-CSP Fusion Feature and LSTM

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