Joint torques estimation in human gait based on Gaussian process.
Technol Health Care
; 31(1): 197-204, 2023.
Article
em En
| MEDLINE
| ID: mdl-35964218
ABSTRACT
BACKGROUND:
Human gait involves activities in nervous and musculoskeletal dynamics to modulate joint torques with time continuously for adapting to varieties of walking conditions.OBJECTIVE:
The goal of this paper is to estimate the joint torques of lower limbs in human gait based on Gaussian process.METHOD:
The potential uses of this study include optimization of exoskeleton assistance, control of the active prostheses, and modulating the joint torque for human-like robots. To achieve this, Gaussian process (GP) based data fusion algorithm is established with joint angles as the inputs.RESULTS:
The statistic nature of the proposed model can explore the correlations between joint angles and joint torques, and enable accurate joint-torque estimations. Experiments were conducted for 5 subjects at three walking speed (0.8 m/s, 1.2 m/s, 1.6 m/s).CONCLUSION:
The results show that it is possible to estimate the joint torques at different scenarios.Palavras-chave
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Caminhada
/
Marcha
Limite:
Humans
Idioma:
En
Revista:
Technol Health Care
Assunto da revista:
ENGENHARIA BIOMEDICA
/
SERVICOS DE SAUDE
Ano de publicação:
2023
Tipo de documento:
Article
País de afiliação:
China