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Prediction of walking direction based on foot rotation angle features

Published online by Cambridge University Press:  30 October 2025

Dianchun Bai ,
Jinli Dai Open the ORCID record for Jinli Dai [Opens in a new window] ,
Zhuo Liu ,
Ruiji Li ,
Fenghao Gong ,
Zhongpeng Lin ,
Yinlai Jiang Open the ORCID record for Yinlai Jiang [Opens in a new window]  and
Hiroshi Yokoi
Dianchun Bai*
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China Center for Neuroscience and Biomedical Engineering, University of Electro-Communications, Tokyo, 182-8585, Japan
Jinli Dai
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China
Zhuo Liu
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China
Ruiji Li
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China
Fenghao Gong
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China
Zhongpeng Lin
Affiliation:
School of Electrical Engineering, Shenyang University of Technology , Shenyang, Liaoning, 110870, China
Yinlai Jiang
Affiliation:
Center for Neuroscience and Biomedical Engineering, University of Electro-Communications, Tokyo, 182-8585, Japan
Hiroshi Yokoi
Affiliation:
Center for Neuroscience and Biomedical Engineering, University of Electro-Communications, Tokyo, 182-8585, Japan
*
Corresponding author: Dianchun Bai; Email: baidianchun@sut.edu.cn
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Abstract

In the context of an aging population and declining birth rates, the advantages of robotic-assisted training are becoming increasingly prominent. However, improving the adaptability and safety of assistive walking robots remains a critical challenge. Accurately identifying a user’s turning intent is essential for preventing dangerous situations such as falls or slips. As one of the core parameters of lower limb motion, foot rotation angles not only reflect the stability and coordination of gait but are also crucial for accurately predicting walking intentions, such as straight walking and turning. This study proposes a gated recurrent unit-based model for predicting foot rotation angles, driven by 3D visual data. By constructing a lower limb linkage model that includes foot joints and incorporating 3D foot rotation angle features, we develop a real-time algorithm for gait state prediction. This model enables accurate prediction of walking intentions, such as straight walking or turning, during walking and is experimentally validated using a robotic walker. The experimental results demonstrate the effectiveness of the proposed predictive model.

Keywords

electronic walkermachine visiondepth learningbehavior prediction

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 11 , November 2025 , pp. 4174 - 4189
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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