Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS)
Nowadays, many people around the world cannot walk perfectly because of their knee problems. A knee-assistive device is one option to support walking for those with low or not enough knee muscle forces. Many research studies have created knee devices with control systems implementing different techn...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/2/44 |
| _version_ | 1797603555124707328 |
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| author | Khemwutta Pornpipatsakul Nopdanai Ajavakom |
| author_facet | Khemwutta Pornpipatsakul Nopdanai Ajavakom |
| author_sort | Khemwutta Pornpipatsakul |
| collection | DOAJ |
| description | Nowadays, many people around the world cannot walk perfectly because of their knee problems. A knee-assistive device is one option to support walking for those with low or not enough knee muscle forces. Many research studies have created knee devices with control systems implementing different techniques and sensors. This study proposes an alternative version of the knee device control system without using too many actuators and sensors. It applies the machine learning and artificial stiffness control strategy (MLASCS) that uses one actuator combined with an encoder for estimating the amount of assistive support in a walking gait from the recorded gait data. The study recorded several gait data and analyzed knee moments, and then trained a k-nearest neighbor model using the knee angle and the angular velocity to classify a state in a gait cycle. This control strategy also implements instantaneous artificial stiffness (IAS), a control system that requires only knee angle in each state to determine the amount of supporting moment. After validating the model via simulation, the accuracy of the machine learning model is around 99.9% with the speed of 165 observers/s, and the walking effort is reduced by up to 60% in a single gait cycle. |
| first_indexed | 2024-03-11T04:33:43Z |
| format | Article |
| id | doaj.art-1a78e7d3cc224af594ed060a5ab27153 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T04:33:43Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1a78e7d3cc224af594ed060a5ab271532023-11-17T21:14:15ZengMDPI AGRobotics2218-65812023-03-011224410.3390/robotics12020044Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS)Khemwutta Pornpipatsakul0Nopdanai Ajavakom1Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, ThailandDepartment of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, ThailandNowadays, many people around the world cannot walk perfectly because of their knee problems. A knee-assistive device is one option to support walking for those with low or not enough knee muscle forces. Many research studies have created knee devices with control systems implementing different techniques and sensors. This study proposes an alternative version of the knee device control system without using too many actuators and sensors. It applies the machine learning and artificial stiffness control strategy (MLASCS) that uses one actuator combined with an encoder for estimating the amount of assistive support in a walking gait from the recorded gait data. The study recorded several gait data and analyzed knee moments, and then trained a k-nearest neighbor model using the knee angle and the angular velocity to classify a state in a gait cycle. This control strategy also implements instantaneous artificial stiffness (IAS), a control system that requires only knee angle in each state to determine the amount of supporting moment. After validating the model via simulation, the accuracy of the machine learning model is around 99.9% with the speed of 165 observers/s, and the walking effort is reduced by up to 60% in a single gait cycle.https://www.mdpi.com/2218-6581/12/2/44knee exoskeletonknee reinforcement devicegait rehabilitationmachine learningartificial stiffness control strategy |
| spellingShingle | Khemwutta Pornpipatsakul Nopdanai Ajavakom Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) Robotics knee exoskeleton knee reinforcement device gait rehabilitation machine learning artificial stiffness control strategy |
| title | Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) |
| title_full | Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) |
| title_fullStr | Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) |
| title_full_unstemmed | Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) |
| title_short | Estimation of Knee Assistive Moment in a Gait Cycle Using Knee Angle and Knee Angular Velocity through Machine Learning and Artificial Stiffness Control Strategy (MLASCS) |
| title_sort | estimation of knee assistive moment in a gait cycle using knee angle and knee angular velocity through machine learning and artificial stiffness control strategy mlascs |
| topic | knee exoskeleton knee reinforcement device gait rehabilitation machine learning artificial stiffness control strategy |
| url | https://www.mdpi.com/2218-6581/12/2/44 |
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