Piecewise Linear Labeling Method for Speed-Adaptability Enhancement in Human Gait Phase Estimation

摘要

Human gait phase estimation has been studied in the field of robotics due to its importance in controlling wearable devices (e.g., robotic prostheses or exoskeletons) in a synchronized manner with the user. Researchers have attempted to estimate the user's gait phase using a learning-based method, as data-driven approaches have recently emerged in the field. In this study, we propose a new labeling method (i.e., a piecewise linear label) to have the estimator learn the ground truth based on variable toe-off onset at different walking speeds. Using whole-body marker data, we computed the angular positions and velocities of thigh and torso segments and utilized them as input data for model training. Three models (i.e., general, slow, and normal-fast) were obtained based on long short-term memory (LSTM). These models are compared in order to identify the effect of the piecewise linear label at various walking speeds. As a result, when the proposed labeling method was used while training the general model, the estimation accuracy was significantly improved. This fact was also found when estimating the user's gait phase during the mid-stance phase. Furthermore, the proposed method maintained good performance in detecting the heel-strike and toe-off. According to the findings of this study, the newly proposed labeling method could improve speed-adaptability in gait phase estimation, resulting in outstanding accuracy for both gait phase, heel-strike, and toe-off estimation.