Light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method

A prediction method and exoskeleton technology, applied in the directions of diagnostic recording/measurement, appliances that help people move, sensors, etc., can solve the problems of overfitting, large amount of calculation, large memory occupation, etc., to achieve strong accuracy and reduce training. effect of time

Active Publication Date: 2020-05-05
HANGZHOU DIANZI UNIV
View PDF15 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the problem of gait trajectory prediction, traditional methods include support vector machine (SVM), Kalman filter, etc., the traditional method is too computati

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method
  • Light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method
  • Light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0055] In order to make the purpose, technical solution and key points of the present invention clearer, the following will further describe in detail the embodiments of the present invention in conjunction with the accompanying drawings.

[0056] A method for predicting the gait of an exoskeleton based on LightGBM, comprising the following steps:

[0057] 1. Data collection stage

[0058] Set five IMU sensors on the user's waist, left thigh, left calf, right thigh, and right calf; according to the structure of the lower limbs of the human body, the following can be simplified figure 2 In the lower limb model diagram, 5 black dots represent the positions of 5 IMU sensors. Each IMU sensor provides the acceleration component of each leg on the two-dimensional plane during the walking process of the human lower limbs. The hip joint takes the counterclockwise direction as the positive direction, and the knee joint Taking clockwise as the positive direction, obtain the acceleration...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a light gradient boosting machine-based (Light GBM-based) exoskeleton gait prediction method. According to the method, through kinesiology analysis, acceleration data of lowerlimb joints is extracted to perform off-line analysis, then, joint control target traces are resolved, and finally, motion control is performed by a control system through the traces to realize humangait motion of exoskeletons of lower limbs. The brand-new prediction method for the motion gait traces of the lower limbs is provided, can be applied to controlling the exoskeletons of the lower limbs, creatively realizes parallel structure input on a Light GBM, and predicts continuous target values of the gait traces of lower limb joints; and the prediction method has relatively high accuracy, and shortens training time.

Description

technical field [0001] The invention belongs to the field of lower extremity exoskeleton man-machine collaborative motion control, and relates to a motion gait trajectory prediction method based on LightGBM (LightGradient Boosting Machine, lifting machine algorithm). Background technique [0002] The lower extremity exoskeleton robot is a typical man-machine integration system worn on the outside of the user's lower limbs. It integrates robot technologies such as detection, control, and information fusion, and combines the user's intelligence with the robot's "physical strength" to provide power. To assist the user's movement. In the civilian field, exoskeleton robots can help the elderly to move normally. In the medical field, exoskeleton robots can greatly reduce the work pressure of medical staff while assisting the disabled to live normally. In the military field, exoskeleton robots can improve the rescue efficiency of the battlefield and help more injured people. Beca...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): A61F2/60A61B5/11A61F2/68A61H3/00G06K9/00G06K9/40G06K9/62
CPCA61F2/60A61F2/68A61B5/112A61H3/00A61F2002/704G06V40/25G06V10/30G06F18/214
Inventor 孔万增王伟富宋国明王雪岩
Owner HANGZHOU DIANZI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap