A Real-Time Gait Recognition and Trajectory Prediction Scheme for Exoskeleton During Continuous Multilocomotion Tasks

Abstract

Accurate detection of human motion states and prediction of intentions are crucial for the natural walking assistance provided by lower-limb exoskeletons. Several methods for gait task recognition, phase estimation, and motion trajectory prediction have been proposed, but few studies have considered all of these simultaneously. This article proposes a novel scheme for gait recognition and trajectory prediction, capable of detecting gait events, recognizing multiple gait tasks, estimating gait phases, and predicting trajectories. First, this scheme proposes a gait task recognition method based on gait events and a multilayer perceptron neural network (MLPNN), which reduces computational cost and improves recognition stability. Next, a gait phase estimation method based on resettable symmetric adaptive oscillators (RSAOs) is introduced, which offers faster convergence speed and smaller error compared to traditional adaptive oscillators (AOs). Subsequently, a trajectory prediction method with adaptive dynamic motion primitives (ADMP) and feedback regulation is proposed. Finally, gait task recognition, phase estimation, trajectory prediction, and comprehensive online experiments are carried out respectively. The online experimental results show that the recognition accuracy of gait tasks can reach 99.2%, the phase estimation error is less than 0.3652 rad, and the trajectory estimation error is less than 1.1814°.