Fuzzy-Logic-Based Terrain Identification with Multisensor Fusion for Transtibial Amputees

• Published in: IEEE/ASME transactions on mechatronics Vol. 20; no. 2; pp. 618 - 630
• Main Authors: Yuan, Kebin, Wang, Qining, Wang, Long
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accuracy; Correlation; Foot; Fuzzy logic; Identification methods; Inclination angle; Legged locomotion; Locomotion; locomotion transitions; multisensor fusion; Prosthetics; Ramps; Real-time systems; Sensors; Strikes; Surgical implants; Terrain; terrain identification; transtibial prostheses

Terrain identification is essential for the control of robotic transtibial prostheses to realize smooth locomotion transitions. In this paper, we present a real-time fuzzy-logic-based terrain identification method with multisensor fusion. Five locomotion features, including the foot inclination angl...