下肢外骨骼需要通过识别穿戴者的运动意图为穿戴者日常活动提供助力,然而当前的研究很少关注能够提供新受试者意图信息的下肢运动模式预测.为此,本文提出了一种基于多传感器信息融合和迁移学习的下肢运动模式预测方法.本文首先设计了一...下肢外骨骼需要通过识别穿戴者的运动意图为穿戴者日常活动提供助力,然而当前的研究很少关注能够提供新受试者意图信息的下肢运动模式预测.为此,本文提出了一种基于多传感器信息融合和迁移学习的下肢运动模式预测方法.本文首先设计了一个下肢运动模式预测模型,采用长短时记忆单元(Long-Short Term Memory,LSTM)提取表面肌电信号(surface ElectroMyoGraphy,sEMG)中的模式特征,然后将sEMG的模式特征与关节角度特征融合预测下肢运动模式.考虑到受试者之间的生理信号差异,本文设计的迁移学习策略分两步训练预测模型,第一步在源域受试者数据集上预训练模型,第二步冻结sEMG模式特征提取器的网络权值,并在目标域数据集上微调全连接层.实验采集了受试者自由行走和穿戴外骨骼行走的数据.通过预测时间长度为100 ms的实验可以得出,所提出的方法分别能够有效提升新受试者自由行走状态下和穿戴外骨骼行走时9.53%和8.29%的运动模式预测准确率.实验结果表明,所提出方法可通过提升新受试者运动模式预测准确率,从而保障下肢外骨骼可靠的人体运动意图感知.展开更多
To help comfort for an amputee, it is important to understand the load distribution between the residual limb and the prosthetic socket for a prosthetic socket system. An interfacial stress sensor was presented which ...To help comfort for an amputee, it is important to understand the load distribution between the residual limb and the prosthetic socket for a prosthetic socket system. An interfacial stress sensor was presented which was capable of measuring compressive pressure and shear stress simultaneously. A mathematical model was built and an experiment was conducted to obtain the transfer function of interfacial stress sensor to compressive pressure. The results show that the sensor is capable of measuring a range of 30-217 kPa compressive pressure with a relative error of 32.15% in lower range and 6.22% in upper range.展开更多
文摘下肢外骨骼需要通过识别穿戴者的运动意图为穿戴者日常活动提供助力,然而当前的研究很少关注能够提供新受试者意图信息的下肢运动模式预测.为此,本文提出了一种基于多传感器信息融合和迁移学习的下肢运动模式预测方法.本文首先设计了一个下肢运动模式预测模型,采用长短时记忆单元(Long-Short Term Memory,LSTM)提取表面肌电信号(surface ElectroMyoGraphy,sEMG)中的模式特征,然后将sEMG的模式特征与关节角度特征融合预测下肢运动模式.考虑到受试者之间的生理信号差异,本文设计的迁移学习策略分两步训练预测模型,第一步在源域受试者数据集上预训练模型,第二步冻结sEMG模式特征提取器的网络权值,并在目标域数据集上微调全连接层.实验采集了受试者自由行走和穿戴外骨骼行走的数据.通过预测时间长度为100 ms的实验可以得出,所提出的方法分别能够有效提升新受试者自由行走状态下和穿戴外骨骼行走时9.53%和8.29%的运动模式预测准确率.实验结果表明,所提出方法可通过提升新受试者运动模式预测准确率,从而保障下肢外骨骼可靠的人体运动意图感知.
基金National Natural Science Foundations of China(No.60976058,No.61274078)Innovation Program of Shanghai Municipal Education Commission,China(No.13ZZ049)Fundamental Research Funds for the Central Universities of Xidian University,China(No.K5051304005)
文摘To help comfort for an amputee, it is important to understand the load distribution between the residual limb and the prosthetic socket for a prosthetic socket system. An interfacial stress sensor was presented which was capable of measuring compressive pressure and shear stress simultaneously. A mathematical model was built and an experiment was conducted to obtain the transfer function of interfacial stress sensor to compressive pressure. The results show that the sensor is capable of measuring a range of 30-217 kPa compressive pressure with a relative error of 32.15% in lower range and 6.22% in upper range.
