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Joint trajectory generator for powered orthosis based on gait modelling using PCA and FFT

Published online by Cambridge University Press:  06 November 2017

Nicholas B. Melo ,
Carlos E. T. Dórea ,
Pablo J. Alsina  and
Márcio V. Araújo
Nicholas B. Melo*
Affiliation:
Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil. E-mails: cetdorea@dca.ufrn.br, pablo@dca.ufrn.br, marcio@ct.ufrn.br
Carlos E. T. Dórea
Affiliation:
Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil. E-mails: cetdorea@dca.ufrn.br, pablo@dca.ufrn.br, marcio@ct.ufrn.br
Pablo J. Alsina
Affiliation:
Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil. E-mails: cetdorea@dca.ufrn.br, pablo@dca.ufrn.br, marcio@ct.ufrn.br
Márcio V. Araújo
Affiliation:
Department of Computer Engineering and Automation, Federal University of Rio Grande do Norte, Natal 59078-970, Brazil. E-mails: cetdorea@dca.ufrn.br, pablo@dca.ufrn.br, marcio@ct.ufrn.br
*
*Corresponding author. E-mail: nicholas.bastos@gmail.com
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Summary

In this work, we propose a method able to find user-oriented gait trajectories that can be used in powered lower limb orthosis applications. Most research related to active orthotic devices focuses on solving hardware issues. However, the problem of generating a set of joint trajectories that are user-oriented still persists. The proposed method uses principal component analysis to extract shared features from a gait dataset, taking into consideration gait-related variables such as joint angle information and the user's anthropometric features, used directly in an orthosis application. The trajectories of joint angles used by the model are represented by a given number of harmonics according to their respective Fourier series analyses. This representation allows better performance of the model, whose capability to generate gait information is validated through experiments using a real active orthotic device, analysing both joint motor energy consumption and user metabolic effort.

Keywords

RoboticsPowered orthosisAssistive roboticsTrajectory generatorHuman-driven assitive device
Type
Articles
Information
Robotica , Volume 36 , Issue 3 , March 2018 , pp. 395 - 407
Copyright
Copyright © Cambridge University Press 2017 

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