Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion in...Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion signals.Composed of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement patterns.This makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless assistance.The pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.展开更多
Lower limb motion recognition techniques commonly employ Surface Electromyographic Signal(sEMG)as input and apply a machine learning classifier or Back Propagation Neural Network(BPNN)for classification.However,this a...Lower limb motion recognition techniques commonly employ Surface Electromyographic Signal(sEMG)as input and apply a machine learning classifier or Back Propagation Neural Network(BPNN)for classification.However,this artificial feature engineering technique is not generalizable to similar tasks and is heavily reliant on the researcher’s subject expertise.In contrast,neural networks such as Convolutional Neural Network(CNN)and Long Short-term Memory Neural Network(LSTM)can automatically extract features,providing a more generalized and adaptable approach to lower limb motion recognition.Although this approach overcomes the limitations of human feature engineering,it may ignore the potential correlation among the sEMG channels.This paper proposes a spatial–temporal graph neural network model,STGNN-LMR,designed to address the problem of recognizing lower limb motion from multi-channel sEMG.STGNN-LMR transforms multi-channel sEMG into a graph structure and uses graph learning to model spatial–temporal features.An 8-channel sEMG dataset is constructed for the experimental stage,and the results show that the STGNN-LMR model achieves a recognition accuracy of 99.71%.Moreover,this paper simulates two unexpected scenarios,including sEMG sensors affected by sweat noise and sudden failure,and evaluates the testing results using hypothesis testing.According to the experimental results,the STGNN-LMR model exhibits a significant advantage over the control models in noise scenarios and failure scenarios.These experimental results confirm the effectiveness of the STGNN-LMR model for addressing the challenges associated with sEMG-based lower limb motion recognition in practical scenarios.展开更多
Objective:To investigate the efficacy and safety of low-frequency repetitive transcranial magnetic stimulation(rTMS)for the treatment of lower limb motor dysfunction after stroke.Methods:A total of 96 patients with st...Objective:To investigate the efficacy and safety of low-frequency repetitive transcranial magnetic stimulation(rTMS)for the treatment of lower limb motor dysfunction after stroke.Methods:A total of 96 patients with stroke and lower limb motor dysfunction were enrolled in this study,and were randomly divided into the experimental group and the sham stimulation group using the method of calculator-generated random numbers.Both groups received conventional medication and rehabilitation therapy.The experimental group received 4 weeks of 1 Hz rTMS treatment in the primary cortical motor area(M1)of the healthy side,with the treatment coil tangent to the skull surface;the sham stimulation group underwent the same procedures as the experimental group,but the treatment coil was perpendicular to the skull surface instead.Lower-extremity subscale of the Fugl-Meyer Assessment(FMA-LE),Berg Balance Scale(BBS),gait analysis,and lower-extremity surface electromyography(LESEM)were performed in both groups before and after rTMS treatment.Results:All 96 patients completed the test with no shedding and no adverse reactions.After treatment,the FMA-LE score and BBS score of the 2 groups of patients were significantly improved as compared with the pre-treatment(P<0.05),and the TUG test time was reduced as compared with the pre-treatment(P<0.05).The true stimulation group had greater improvement in all assessment indexes than that of the sham stimulation group(P<0.05).After treatment,the electromyographic activity of the tibialis anterior and rectus femoris muscles in the true simulation group improved significantly.The step length,step speed,and step frequency were also significantly improved in both groups after treatment,and the symmetrical ratio of step length and support time was reduced(P<0.05).Comparison between the groups revealed that the true simulation group significantly improved after rTMS treatment as compared to the sham stimulation group(P<0.05).Conclusion:1Hz rTMS treatment safely and effectively improved motor and balance function in patients with post-stroke lower limb motor dysfunction.展开更多
Objective To compare the efficacy between acupuncture at stellate ganglion combined with intravenous administration of alprostadil and simple intravenous administration of alprostadil on lower limb atherosclerosis of ...Objective To compare the efficacy between acupuncture at stellate ganglion combined with intravenous administration of alprostadil and simple intravenous administration of alprostadil on lower limb atherosclerosis of early diabetes mellitus.Methods Sixty patients of lower limb atherosclerosis of early diabetes mellitus were randomly divided into an observation group and a展开更多
Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during th...Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking conditions.The gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the calculations.Therefore,it is vital to have a gait planning method in the joint space.In this paper,a minimum-time and minimum-jerk planner is proposed for the robot joints.To do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the stride.The minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum speed.Boundary conditions of the joints are determined to secure backward balance and fulfill gait parameters.Finally,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.展开更多
To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under...To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.展开更多
Rehabilitation of lower limb amputation in developing countries is quite challenging.Though there are basic to highly advanced prostheses available in India,the set-up is still facing difficulties in developing countr...Rehabilitation of lower limb amputation in developing countries is quite challenging.Though there are basic to highly advanced prostheses available in India,the set-up is still facing difficulties in developing countries.Prosthetic management is difficult due to lack of availability of prostheses and reduced affordability among low income populations.In this review we highlighted the lower limb amputation and prosthetic rehabilitation status in India.Currently,India is advancing well in the rehabilitation field,but further studies are required to provide more evidence and recommendation.展开更多
This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of...This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform moves.The M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,respectively.After introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are established.The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables.Therefore,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables.Then the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is simulated.The simulation results verify the effectiveness of the proposed motion planning method.This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.展开更多
Introduction: Inequality in the length of the lower limbs has an impact on the stability and function of the musculoskeletal system because of the imbalance it causes in our bodies. Several treatment modalities were u...Introduction: Inequality in the length of the lower limbs has an impact on the stability and function of the musculoskeletal system because of the imbalance it causes in our bodies. Several treatment modalities were used by practitioners. The aim of this study was to evaluate the anatomical and functional results of length equalisation of the lower limbs using internal osteosynthesis in the Orthopaedic and Traumatological Surgery Department of the Amirou Boubacar Diallo National Hospital in Niamey. Patients and method: This was a retrospective, prospective study of 22 patients from January 2010 to November 2015, a period of 5 years. The patients concerned were aged at least 18 years and had undergone a femoral shortening osteotomy not exceeding 5 cm on the contralateral healthy limb with a screw plate as the internal osteosynthesis device. Results: The average age of our patients was 24.18 years (18 to 48 years). The etiologies of these length inequalities were: vascular 54.55% (n = 12), post-traumatic 27.27% (n = 6), post-infectious 13.64% (n = 3) and neuromuscular 4.54% (n = 1). The mean length inequality of our patients was 4.93 cm, with extremes ranging from 4 to 8 cm. At an average follow-up of 6.5 months (6 to 24 months), our functional results were satisfactory overall. Discussion: Despite the significant nature of our initial inequalities, which were moderate and severe, we ended up with slight inequalities or even total correction for some of our patients. Conclusion: Inequality in the length of the lower limbs is a handicap that requires appropriate management.展开更多
Introduction: Obliterative arterial disease of the lower limbs is a marker of advanced atherosclerosis. It is one of the world’s most common cardiovascular diseases, present in one in five people over the age of 60, ...Introduction: Obliterative arterial disease of the lower limbs is a marker of advanced atherosclerosis. It is one of the world’s most common cardiovascular diseases, present in one in five people over the age of 60, and carries an increased risk of morbidity and mortality. The aim of this study was to assess the knowledge of patients and their carers about obliterative arteriopathy of the lower limbs at Conakry University Hospital. Material and Methods: We conducted a descriptive cross-sectional study lasting 3 months, from March 12 to June 12, 2022 in the hospitals of the University Hospital of Conakry (Donka and Ignace Deen). Following free and informed consent, they were interviewed on the basis of a pre-established questionnaire. Socio-demographic data (age, gender, level of education) were collected, and knowledge of obliterative arterial disease of the lower limbs. Results: The study involved 159 people, comprising 106 patients (66.66%) and 53 accompanying persons (33.34%) in the hospitals of the University Hospital of Conakry (Donka and Ignace Deen). The 60 to 79 age group was the most represented (44.7%), with an average age of 55.4 ± 15.9 years and extremes of 20 to 84 years. Half (47.8%) had not attended school, and almost all (96.4%) of those who had attended school had a low level of education (primary and secondary). Almost all of them (91.2%) had never heard of AOMI. Only 5% identified at least one risk factor, diabetes, hypertension and smoking. Amputation was the most frequently identified complication. About 98% did not know that AOMI is associated with myocardial infarction and stroke, and 93.7% did not know of any complications. Almost all the participants (99.4%) had poor knowledge of the following complications. Conclusion: Obliterative arterial disease of the lower limbs could be prevented or delayed by screening and controlling risk factors. Our results show a huge deficit in knowledge of this pathology, including risk factors, preventive measures, clinical signs and complications among patients and their relatives. A study conducted outside the hospital environment would provide a better understanding of the extent to which the general population is unaware of this disease.展开更多
Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplin...Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.展开更多
AIM To examine the efficacy and safety of the 6 French(6F) Rotarex~S catheter system in patients with acute limb ischemia(ALI) involving thromboembolic occlusion of the proximal and mid-crural vessels.METHODS The fi...AIM To examine the efficacy and safety of the 6 French(6F) Rotarex~S catheter system in patients with acute limb ischemia(ALI) involving thromboembolic occlusion of the proximal and mid-crural vessels.METHODS The files of patients in our department with ALI between 2015 and 2017 were examined. In seven patients, the Rotarex~S catheter was used in the proximal segment of the crural arteries. Data related to the clinical examination, Doppler sonography, angiography and followup from these patients were further used for analysis.RESULTS Two patients(29%) had thrombotic occlusion of the common femoral artery, and the remaining five exhibited thrombosis of the superficial femoral artery and popliteal artery. Mechanical thrombectomy was performed in all cases using a 6F Rotarex~S catheter. Additional Rotarex~S catheter thrombectomy due to remaining thrombus formation with no reflow was performed in the anterior tibial artery in two of seven cases(29%), in the tibiofibular tract and posterior tibial artery in two of seven cases(29%) and in the tibiofibular tract and fibular artery in the remaining three of seven cases(43%). Ischemic symptoms resolved promptly in all, and none of the patients experienced a procedural complication, such as crural vessel dissection, perforation or thrombus embolization.CONCLUSION Mechanical debulking using the 6F Rotarex~S catheter system may be a safe and effective treatment option in case of thrombotic or thromboembolic occlusion of the proximal and mid-portion of crural arteries.展开更多
Stress fractures in sport are becoming increasing more common,comprising up to 10%of all of sporting injuries.Around 90%of such injuries are located in the lower limb.This articles aims to define the optimal managemen...Stress fractures in sport are becoming increasing more common,comprising up to 10%of all of sporting injuries.Around 90%of such injuries are located in the lower limb.This articles aims to define the optimal management of lower limb stress fractures in the athlete,with a view to maximise return rates and minimise return times to sport.Treatment planning of this condition is specific to the location of the injury.However,there remains a clear division of stress fractures by"high"and"low"risk."Low risk"stress fractures are those with a low probability of fracture propagation,delayed union,or non-union,and so can be managed reliably with rest and exercise limitation.These include stress fractures of the PosteroMedial Tibial Diaphysis,Metatarsal Shafts,Distal Fibula,Medial Femoral Neck,Femoral Shaft and Calcaneus."High risk"stress fractures,in contrast,have increased rates of fracture propagation,displacement,delayed and non-union,and so require immediate cessation of activity,with orthopaedic referral,to assess the need for surgical intervention.These include stress fractures of the Anterior Tibial Diaphysis,Fifth Metatarsal Base,Medial Malleolus,Lateral Femoral Neck,Tarsal Navicular and Great Toe Sesamoids.In order to establish the optimal methods for managing these injuries,we present and review the current evidence which guides the treatment of stress fractures in athletes.From this,we note an increased role for surgical management of certain high risk stress fractures to improve return times and rates to sport.Following this,key recommendations are provided for the management of the common stress fracture types seen in the athlete.Five case reports are also presented to illustrate the application of sportfocussed lower limb stress fracture treatment in the clinical setting.展开更多
This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling...This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.展开更多
To ascertain the effectiveness of slacklining as a supplementary therapy for elderly stroke patients who are functionally non-progressing. This case study involved an 18-mo prospective observation of the management of...To ascertain the effectiveness of slacklining as a supplementary therapy for elderly stroke patients who are functionally non-progressing. This case study involved an 18-mo prospective observation of the management of an 87-year-old female stroke-patient of the left hemisphere with reduced balance, reduced lower limb muscular activation, hypertonia, and concurrent postural deficits. This entailed the initial acute care phase through to discharge to home and 18-mo final status in her original independent living setting. The introduction of slacklining as an adjunct therapy was made 12 mo post incident. Slacklining involves balance retention on a tightened band where external environmental changes cause a whole-body dynamic response to retain equilibrium. It is a complex neuromechanical task enabling individualized self-developed response strategies to be learned and adapted. This facilitates the innate process of balance retention, lower-limb and core muscle activation, and stable posture through a combination of learned motor skills and neurological system down regulation. Individuals adopt and follow established sequential motor learning stages where the acquired balance skillsare achieved in a challenging composite-chain activity. Slacklining could be considered an adjunct therapy for lower limb stroke rehabilitation where function is compromised due to decreased muscle recruitment, decreased postural control and compromised balance. Initial inpatient rehabilitation involved one-month acute-care, one-month rehabilitation, and one-month transitional care prior to home discharge. A further six months of intensive outpatient rehabilitation was provided with five hourly sessions per week including:supervised and self-managed hydrotherapy, plus one individual and two group falls' prevention sessions. These were supported by daily home exercises. At 12 mo post incident, recovery plateaued, then regressed following three falls. Rehabilitation was subsequently modified with the hydrotherapy retained and the group sessions replaced with an additional individual session supplemented with slacklining. The slacklining followed stages one and two of a standardized five-stage protocol. Self-reported functional progression resumed with improvement by 14 mo which further increased and was sustained 18 mo(Students' t test P < 0.05). Slacklining's external stimulations activate global-body responses through innate balance, optimal postural and potentially down-regulated reflex control. Incorporated into stroke rehabilitation programs, slacklining can provide measurable functional gains.展开更多
Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value ...Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a Lokomat group (30 cases) and a control group (30 cases). The Lokomat group received Lokomat rehabilitation while the control group only received traditional rehabilitation. The gait parameters and the balance ability were evaluated by the K421GAITRite analysis system and the Berg Balance Scale (BBS);ERP components including N100, N200, P200 and P300 potential were evaluated by a muscle electric inducing potentiometer. Results: There were no significant differences in BBS and gait parameters (P > 0.05), as well as in amplitude and incubation periods (IP) (P > 0.05) between the two groups before training. After 8 weeks treatment, the total (48.88 ± 3.68), static (26.40 ± 3.14) and dynamic (22.64 ± 3.68) balance scores improved significantly;the pace (59.22 ± 4.67), stride length (19.04 ± 2.24), feet wide (98.02 ± 7.97) and walking velocity (84.86 ± 9.88) and IP of N200 and P300 shortened obviously and P300 amplitude increased significantly in robot group (P < 0.05). Conclusion: This demonstrated that robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 may be considered as an indicator of neurological function improvement and effective robot-assisted lower limb rehabilitation training.展开更多
A subsystem impactor test for pedestrian lower limb injury evaluation has been brought in China New Car Assessment Protocol(CNCAP).Concerning large anthropometric differences of the people from different countries,the...A subsystem impactor test for pedestrian lower limb injury evaluation has been brought in China New Car Assessment Protocol(CNCAP).Concerning large anthropometric differences of the people from different countries,the present study aims to establish and validate a finite element lower limb model representing 50th Chinese male size for pedestrian safety research,then compare its biomechanical responses with the general models currently in wide use in the world for pedestrian safety evaluation.Concerning the vehicle-pedestrian impact loading environment,the previously developed lower limb model with three-dimensional muscles was adjusted and validated through the related experiments.Then,the biomechanical responses of the validated model were compared with the Total Human Model for Safety(THUMS)and Advanced Pedestrian Legform Impactor(aPLI)models by combing with four typical vehicles.The results showed that both consistency and significant differences of biomechanical responses existed between the present model and the other two models.The injury measurements of the thigh region of the present model showed extremely large differences with the other two models,while the tibia and Medial Collateral Ligament(MCL)injury measurements show similar values.Thus,it can be concluded that directly using the aPLI or THUMS models for Chinese pedestrian safety evaluation is not robust concerning both kinematic responses and injury measurements.展开更多
In this study,a humanoid prototype of 2-DOF(degrees of freedom)lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton.To improve the detection accuracy of the h...In this study,a humanoid prototype of 2-DOF(degrees of freedom)lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton.To improve the detection accuracy of the humanrobot interaction torque,a BPNN(backpropagation neural networks)is proposed to estimate this interaction force and to compensate for the measurement error of the 3D-force/torque sensor.Meanwhile,the backstepping controller is designed to realize the exoskeleton's passive position control,which means that the person passively adapts to the exoskeleton.On the other hand,a variable admittance controller is used to implement the exoskeleton's active followup control,which means that the person's motion is motivated by his/her intention and the exoskeleton control tries best to improve the human-robot wearable comfortable performance.To improve the wearable comfortable effect,serval regular gait tasks with different admittance parameters and step frequencies are statistically performed to obtain the optimal admittance control parameters.Finally,the BPNN compensation algorithm and two controllers are verified by the experimental exoskeleton prototype with human-robot cooperative motion.展开更多
Aim and Objectives: This study aimed to record the commonly affected veins in the lower limbs, to compare the affected sides and gender and to correlate the Doppler findings and stages of deep venous thrombosis (DVT)....Aim and Objectives: This study aimed to record the commonly affected veins in the lower limbs, to compare the affected sides and gender and to correlate the Doppler findings and stages of deep venous thrombosis (DVT). Materials and Methods: A descriptive retrospective study of 46 already diagnosed cases of lower limb DVT. Results: Out of 46 cases of DVT, 71.74% were females. The majority of patients (93.47%) were affected in unilateral lower limb with significant predominance (65.22%) to affect the left lower limb (p Conclusion: Lower limb deep venous thrombosis affects left lower limb more than right and females more than males. Superficial femoral vein (SFV) and common femoral vein (CFV) are the most common affected veins. Lower limb DVT predominantly present in acute stage with venous distension and absent blood flow.展开更多
This paper describes a novel gait pattern recognition method based on Long Short-Term Memory(LSTM)and Convolutional Neural Network(CNN)for lower limb exoskeleton.The Inertial Measurement Unit(IMU)installed on the exos...This paper describes a novel gait pattern recognition method based on Long Short-Term Memory(LSTM)and Convolutional Neural Network(CNN)for lower limb exoskeleton.The Inertial Measurement Unit(IMU)installed on the exoskeleton to collect motion information,which is used for LSTM-CNN input.This article considers five common gait patterns,including walking,going up stairs,going down stairs,sitting down,and standing up.In the LSTM-CNN model,the LSTM layer is used to process temporal sequences and the CNN layer is used to extract features.To optimize the deep neural network structure proposed in this paper,some hyperparameter selection experiments were carried out.In addition,to verify the superiority of the proposed recognition method,the method is compared with several common methods such as LSTM,CNN and SVM.The results show that the average recognition accuracy can reach 97.78%,which has a good recognition eff ect.Finally,according to the experimental results of gait pattern switching,the proposed method can identify the switching gait pattern in time,which shows that it has good real-time performance.展开更多
基金the financial support of Shanghai Science and Technology innovation action plan(19DZ2203600).
文摘Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily living.In such active systems,an intelligent controller may be indispensable.In this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion signals.Composed of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement patterns.This makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless assistance.The pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.
文摘Lower limb motion recognition techniques commonly employ Surface Electromyographic Signal(sEMG)as input and apply a machine learning classifier or Back Propagation Neural Network(BPNN)for classification.However,this artificial feature engineering technique is not generalizable to similar tasks and is heavily reliant on the researcher’s subject expertise.In contrast,neural networks such as Convolutional Neural Network(CNN)and Long Short-term Memory Neural Network(LSTM)can automatically extract features,providing a more generalized and adaptable approach to lower limb motion recognition.Although this approach overcomes the limitations of human feature engineering,it may ignore the potential correlation among the sEMG channels.This paper proposes a spatial–temporal graph neural network model,STGNN-LMR,designed to address the problem of recognizing lower limb motion from multi-channel sEMG.STGNN-LMR transforms multi-channel sEMG into a graph structure and uses graph learning to model spatial–temporal features.An 8-channel sEMG dataset is constructed for the experimental stage,and the results show that the STGNN-LMR model achieves a recognition accuracy of 99.71%.Moreover,this paper simulates two unexpected scenarios,including sEMG sensors affected by sweat noise and sudden failure,and evaluates the testing results using hypothesis testing.According to the experimental results,the STGNN-LMR model exhibits a significant advantage over the control models in noise scenarios and failure scenarios.These experimental results confirm the effectiveness of the STGNN-LMR model for addressing the challenges associated with sEMG-based lower limb motion recognition in practical scenarios.
文摘Objective:To investigate the efficacy and safety of low-frequency repetitive transcranial magnetic stimulation(rTMS)for the treatment of lower limb motor dysfunction after stroke.Methods:A total of 96 patients with stroke and lower limb motor dysfunction were enrolled in this study,and were randomly divided into the experimental group and the sham stimulation group using the method of calculator-generated random numbers.Both groups received conventional medication and rehabilitation therapy.The experimental group received 4 weeks of 1 Hz rTMS treatment in the primary cortical motor area(M1)of the healthy side,with the treatment coil tangent to the skull surface;the sham stimulation group underwent the same procedures as the experimental group,but the treatment coil was perpendicular to the skull surface instead.Lower-extremity subscale of the Fugl-Meyer Assessment(FMA-LE),Berg Balance Scale(BBS),gait analysis,and lower-extremity surface electromyography(LESEM)were performed in both groups before and after rTMS treatment.Results:All 96 patients completed the test with no shedding and no adverse reactions.After treatment,the FMA-LE score and BBS score of the 2 groups of patients were significantly improved as compared with the pre-treatment(P<0.05),and the TUG test time was reduced as compared with the pre-treatment(P<0.05).The true stimulation group had greater improvement in all assessment indexes than that of the sham stimulation group(P<0.05).After treatment,the electromyographic activity of the tibialis anterior and rectus femoris muscles in the true simulation group improved significantly.The step length,step speed,and step frequency were also significantly improved in both groups after treatment,and the symmetrical ratio of step length and support time was reduced(P<0.05).Comparison between the groups revealed that the true simulation group significantly improved after rTMS treatment as compared to the sham stimulation group(P<0.05).Conclusion:1Hz rTMS treatment safely and effectively improved motor and balance function in patients with post-stroke lower limb motor dysfunction.
文摘Objective To compare the efficacy between acupuncture at stellate ganglion combined with intravenous administration of alprostadil and simple intravenous administration of alprostadil on lower limb atherosclerosis of early diabetes mellitus.Methods Sixty patients of lower limb atherosclerosis of early diabetes mellitus were randomly divided into an observation group and a
文摘Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking conditions.The gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the calculations.Therefore,it is vital to have a gait planning method in the joint space.In this paper,a minimum-time and minimum-jerk planner is proposed for the robot joints.To do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the stride.The minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum speed.Boundary conditions of the joints are determined to secure backward balance and fulfill gait parameters.Finally,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.
基金supported in part by the National Natural Science Foundation of China under grants 61873304 and 62173048in part by the China Postdoctoral Science Foundation Funded Project under grant 2018M641784also in part by the Key Science and Technology Project of Jilin Province,China,grant nos.20200404208YY.
文摘To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.
文摘Rehabilitation of lower limb amputation in developing countries is quite challenging.Though there are basic to highly advanced prostheses available in India,the set-up is still facing difficulties in developing countries.Prosthetic management is difficult due to lack of availability of prostheses and reduced affordability among low income populations.In this review we highlighted the lower limb amputation and prosthetic rehabilitation status in India.Currently,India is advancing well in the rehabilitation field,but further studies are required to provide more evidence and recommendation.
基金funded by the National Natural Science Foundation of China,Grant Number:52175006.
文摘This article introduces a cable-driven lower limb rehabilitation robot with movable distal anchor points(M-CDLR).The traditional cable-driven parallel robots(CDPRs)control the moving platform by changing the length of cables,M-CDLR can also adjust the position of the distal anchor point when the moving platform moves.The M-CDLR this article proposed has gait and single-leg training modes,which correspond to the plane and space motion of the moving platform,respectively.After introducing the system structure configuration,the generalized kinematics and dynamics of M-CDLR are established.The fully constrained CDPRs can provide more stable rehabilitation training than the under-constrained one but requires more cables.Therefore,a motion planning method for the movable distal anchor point of M-CDLR is proposed to realize the theoretically fully constrained with fewer cables.Then the expected trajectory of the moving platform is obtained from the motion capture experiment,and the motion planning of M-CDLR under two training modes is simulated.The simulation results verify the effectiveness of the proposed motion planning method.This study serves as a basic theoretical study of the structure optimization and control strategy of M-CDLR.
文摘Introduction: Inequality in the length of the lower limbs has an impact on the stability and function of the musculoskeletal system because of the imbalance it causes in our bodies. Several treatment modalities were used by practitioners. The aim of this study was to evaluate the anatomical and functional results of length equalisation of the lower limbs using internal osteosynthesis in the Orthopaedic and Traumatological Surgery Department of the Amirou Boubacar Diallo National Hospital in Niamey. Patients and method: This was a retrospective, prospective study of 22 patients from January 2010 to November 2015, a period of 5 years. The patients concerned were aged at least 18 years and had undergone a femoral shortening osteotomy not exceeding 5 cm on the contralateral healthy limb with a screw plate as the internal osteosynthesis device. Results: The average age of our patients was 24.18 years (18 to 48 years). The etiologies of these length inequalities were: vascular 54.55% (n = 12), post-traumatic 27.27% (n = 6), post-infectious 13.64% (n = 3) and neuromuscular 4.54% (n = 1). The mean length inequality of our patients was 4.93 cm, with extremes ranging from 4 to 8 cm. At an average follow-up of 6.5 months (6 to 24 months), our functional results were satisfactory overall. Discussion: Despite the significant nature of our initial inequalities, which were moderate and severe, we ended up with slight inequalities or even total correction for some of our patients. Conclusion: Inequality in the length of the lower limbs is a handicap that requires appropriate management.
文摘Introduction: Obliterative arterial disease of the lower limbs is a marker of advanced atherosclerosis. It is one of the world’s most common cardiovascular diseases, present in one in five people over the age of 60, and carries an increased risk of morbidity and mortality. The aim of this study was to assess the knowledge of patients and their carers about obliterative arteriopathy of the lower limbs at Conakry University Hospital. Material and Methods: We conducted a descriptive cross-sectional study lasting 3 months, from March 12 to June 12, 2022 in the hospitals of the University Hospital of Conakry (Donka and Ignace Deen). Following free and informed consent, they were interviewed on the basis of a pre-established questionnaire. Socio-demographic data (age, gender, level of education) were collected, and knowledge of obliterative arterial disease of the lower limbs. Results: The study involved 159 people, comprising 106 patients (66.66%) and 53 accompanying persons (33.34%) in the hospitals of the University Hospital of Conakry (Donka and Ignace Deen). The 60 to 79 age group was the most represented (44.7%), with an average age of 55.4 ± 15.9 years and extremes of 20 to 84 years. Half (47.8%) had not attended school, and almost all (96.4%) of those who had attended school had a low level of education (primary and secondary). Almost all of them (91.2%) had never heard of AOMI. Only 5% identified at least one risk factor, diabetes, hypertension and smoking. Amputation was the most frequently identified complication. About 98% did not know that AOMI is associated with myocardial infarction and stroke, and 93.7% did not know of any complications. Almost all the participants (99.4%) had poor knowledge of the following complications. Conclusion: Obliterative arterial disease of the lower limbs could be prevented or delayed by screening and controlling risk factors. Our results show a huge deficit in knowledge of this pathology, including risk factors, preventive measures, clinical signs and complications among patients and their relatives. A study conducted outside the hospital environment would provide a better understanding of the extent to which the general population is unaware of this disease.
基金Supported by National Key R&D Program of China(Grant No.2016YFE0105000)National Natural Science Foundation of China(Grant No.91848104)
文摘Lower limb rehabilitation exoskeleton robots integrate sensing, control, and other technologies and exhibit the characteristics of bionics, robotics, information and control science, medicine, and other interdisciplinary areas. In this review, the typical products and prototypes of lower limb exoskeleton rehabilitation robots are introduced and stateof-the-art techniques are analyzed and summarized. Because the goal of rehabilitation training is to recover patients’ sporting ability to the normal level, studying the human gait is the foundation of lower limb exoskeleton rehabilitation robot research. Therefore, this review critically evaluates research progress in human gait analysis and systematically summarizes developments in the mechanical design and control of lower limb rehabilitation exoskeleton robots. From the performance of typical prototypes, it can be deduced that these robots can be connected to human limbs as wearable forms;further, it is possible to control robot movement at each joint to simulate normal gait and drive the patient’s limb to realize robot-assisted rehabilitation training. Therefore human–robot integration is one of the most important research directions, and in this context, rigid-flexible-soft hybrid structure design, customized personalized gait generation, and multimodal information fusion are three key technologies.
文摘AIM To examine the efficacy and safety of the 6 French(6F) Rotarex~S catheter system in patients with acute limb ischemia(ALI) involving thromboembolic occlusion of the proximal and mid-crural vessels.METHODS The files of patients in our department with ALI between 2015 and 2017 were examined. In seven patients, the Rotarex~S catheter was used in the proximal segment of the crural arteries. Data related to the clinical examination, Doppler sonography, angiography and followup from these patients were further used for analysis.RESULTS Two patients(29%) had thrombotic occlusion of the common femoral artery, and the remaining five exhibited thrombosis of the superficial femoral artery and popliteal artery. Mechanical thrombectomy was performed in all cases using a 6F Rotarex~S catheter. Additional Rotarex~S catheter thrombectomy due to remaining thrombus formation with no reflow was performed in the anterior tibial artery in two of seven cases(29%), in the tibiofibular tract and posterior tibial artery in two of seven cases(29%) and in the tibiofibular tract and fibular artery in the remaining three of seven cases(43%). Ischemic symptoms resolved promptly in all, and none of the patients experienced a procedural complication, such as crural vessel dissection, perforation or thrombus embolization.CONCLUSION Mechanical debulking using the 6F Rotarex~S catheter system may be a safe and effective treatment option in case of thrombotic or thromboembolic occlusion of the proximal and mid-portion of crural arteries.
文摘Stress fractures in sport are becoming increasing more common,comprising up to 10%of all of sporting injuries.Around 90%of such injuries are located in the lower limb.This articles aims to define the optimal management of lower limb stress fractures in the athlete,with a view to maximise return rates and minimise return times to sport.Treatment planning of this condition is specific to the location of the injury.However,there remains a clear division of stress fractures by"high"and"low"risk."Low risk"stress fractures are those with a low probability of fracture propagation,delayed union,or non-union,and so can be managed reliably with rest and exercise limitation.These include stress fractures of the PosteroMedial Tibial Diaphysis,Metatarsal Shafts,Distal Fibula,Medial Femoral Neck,Femoral Shaft and Calcaneus."High risk"stress fractures,in contrast,have increased rates of fracture propagation,displacement,delayed and non-union,and so require immediate cessation of activity,with orthopaedic referral,to assess the need for surgical intervention.These include stress fractures of the Anterior Tibial Diaphysis,Fifth Metatarsal Base,Medial Malleolus,Lateral Femoral Neck,Tarsal Navicular and Great Toe Sesamoids.In order to establish the optimal methods for managing these injuries,we present and review the current evidence which guides the treatment of stress fractures in athletes.From this,we note an increased role for surgical management of certain high risk stress fractures to improve return times and rates to sport.Following this,key recommendations are provided for the management of the common stress fracture types seen in the athlete.Five case reports are also presented to illustrate the application of sportfocussed lower limb stress fracture treatment in the clinical setting.
基金supported by the National Natural Science Foundation of China(51505116)the Fundamental Research Funds for the Central Universities(JZ2016HGTB0716)+2 种基金Natural and Science Foundation of Anhui Province(1508085SME221)China Postdoctoral Science Foundation(2016M590563)the Science and Technology Public Relations Project of Anhui Province(1604a0902181)
文摘This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.
文摘To ascertain the effectiveness of slacklining as a supplementary therapy for elderly stroke patients who are functionally non-progressing. This case study involved an 18-mo prospective observation of the management of an 87-year-old female stroke-patient of the left hemisphere with reduced balance, reduced lower limb muscular activation, hypertonia, and concurrent postural deficits. This entailed the initial acute care phase through to discharge to home and 18-mo final status in her original independent living setting. The introduction of slacklining as an adjunct therapy was made 12 mo post incident. Slacklining involves balance retention on a tightened band where external environmental changes cause a whole-body dynamic response to retain equilibrium. It is a complex neuromechanical task enabling individualized self-developed response strategies to be learned and adapted. This facilitates the innate process of balance retention, lower-limb and core muscle activation, and stable posture through a combination of learned motor skills and neurological system down regulation. Individuals adopt and follow established sequential motor learning stages where the acquired balance skillsare achieved in a challenging composite-chain activity. Slacklining could be considered an adjunct therapy for lower limb stroke rehabilitation where function is compromised due to decreased muscle recruitment, decreased postural control and compromised balance. Initial inpatient rehabilitation involved one-month acute-care, one-month rehabilitation, and one-month transitional care prior to home discharge. A further six months of intensive outpatient rehabilitation was provided with five hourly sessions per week including:supervised and self-managed hydrotherapy, plus one individual and two group falls' prevention sessions. These were supported by daily home exercises. At 12 mo post incident, recovery plateaued, then regressed following three falls. Rehabilitation was subsequently modified with the hydrotherapy retained and the group sessions replaced with an additional individual session supplemented with slacklining. The slacklining followed stages one and two of a standardized five-stage protocol. Self-reported functional progression resumed with improvement by 14 mo which further increased and was sustained 18 mo(Students' t test P < 0.05). Slacklining's external stimulations activate global-body responses through innate balance, optimal postural and potentially down-regulated reflex control. Incorporated into stroke rehabilitation programs, slacklining can provide measurable functional gains.
文摘Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a Lokomat group (30 cases) and a control group (30 cases). The Lokomat group received Lokomat rehabilitation while the control group only received traditional rehabilitation. The gait parameters and the balance ability were evaluated by the K421GAITRite analysis system and the Berg Balance Scale (BBS);ERP components including N100, N200, P200 and P300 potential were evaluated by a muscle electric inducing potentiometer. Results: There were no significant differences in BBS and gait parameters (P > 0.05), as well as in amplitude and incubation periods (IP) (P > 0.05) between the two groups before training. After 8 weeks treatment, the total (48.88 ± 3.68), static (26.40 ± 3.14) and dynamic (22.64 ± 3.68) balance scores improved significantly;the pace (59.22 ± 4.67), stride length (19.04 ± 2.24), feet wide (98.02 ± 7.97) and walking velocity (84.86 ± 9.88) and IP of N200 and P300 shortened obviously and P300 amplitude increased significantly in robot group (P < 0.05). Conclusion: This demonstrated that robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 may be considered as an indicator of neurological function improvement and effective robot-assisted lower limb rehabilitation training.
基金This work is supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(Grant No.51621004)National Natural Science Foundation of China(Grant No.51875187)+1 种基金Hunan Youth Talent Program(Grant No.2020RC3016)Hunan Provincial Natural Science Foundation of China(Grant No.2019JJ40021).
文摘A subsystem impactor test for pedestrian lower limb injury evaluation has been brought in China New Car Assessment Protocol(CNCAP).Concerning large anthropometric differences of the people from different countries,the present study aims to establish and validate a finite element lower limb model representing 50th Chinese male size for pedestrian safety research,then compare its biomechanical responses with the general models currently in wide use in the world for pedestrian safety evaluation.Concerning the vehicle-pedestrian impact loading environment,the previously developed lower limb model with three-dimensional muscles was adjusted and validated through the related experiments.Then,the biomechanical responses of the validated model were compared with the Total Human Model for Safety(THUMS)and Advanced Pedestrian Legform Impactor(aPLI)models by combing with four typical vehicles.The results showed that both consistency and significant differences of biomechanical responses existed between the present model and the other two models.The injury measurements of the thigh region of the present model showed extremely large differences with the other two models,while the tibia and Medial Collateral Ligament(MCL)injury measurements show similar values.Thus,it can be concluded that directly using the aPLI or THUMS models for Chinese pedestrian safety evaluation is not robust concerning both kinematic responses and injury measurements.
基金Supported by National Natural Science Foundation of China(Grant Nos.51775089,12072068,11872147)Sichuan Province Science and Technology Support Program of China(Grant Nos.2020YFG0137,2018JY0565).
文摘In this study,a humanoid prototype of 2-DOF(degrees of freedom)lower limb exoskeleton is introduced to evaluate the wearable comfortable effect between person and exoskeleton.To improve the detection accuracy of the humanrobot interaction torque,a BPNN(backpropagation neural networks)is proposed to estimate this interaction force and to compensate for the measurement error of the 3D-force/torque sensor.Meanwhile,the backstepping controller is designed to realize the exoskeleton's passive position control,which means that the person passively adapts to the exoskeleton.On the other hand,a variable admittance controller is used to implement the exoskeleton's active followup control,which means that the person's motion is motivated by his/her intention and the exoskeleton control tries best to improve the human-robot wearable comfortable performance.To improve the wearable comfortable effect,serval regular gait tasks with different admittance parameters and step frequencies are statistically performed to obtain the optimal admittance control parameters.Finally,the BPNN compensation algorithm and two controllers are verified by the experimental exoskeleton prototype with human-robot cooperative motion.
文摘Aim and Objectives: This study aimed to record the commonly affected veins in the lower limbs, to compare the affected sides and gender and to correlate the Doppler findings and stages of deep venous thrombosis (DVT). Materials and Methods: A descriptive retrospective study of 46 already diagnosed cases of lower limb DVT. Results: Out of 46 cases of DVT, 71.74% were females. The majority of patients (93.47%) were affected in unilateral lower limb with significant predominance (65.22%) to affect the left lower limb (p Conclusion: Lower limb deep venous thrombosis affects left lower limb more than right and females more than males. Superficial femoral vein (SFV) and common femoral vein (CFV) are the most common affected veins. Lower limb DVT predominantly present in acute stage with venous distension and absent blood flow.
基金supported by the Pre-research project in the manned space field.Project Number 020202,China.
文摘This paper describes a novel gait pattern recognition method based on Long Short-Term Memory(LSTM)and Convolutional Neural Network(CNN)for lower limb exoskeleton.The Inertial Measurement Unit(IMU)installed on the exoskeleton to collect motion information,which is used for LSTM-CNN input.This article considers five common gait patterns,including walking,going up stairs,going down stairs,sitting down,and standing up.In the LSTM-CNN model,the LSTM layer is used to process temporal sequences and the CNN layer is used to extract features.To optimize the deep neural network structure proposed in this paper,some hyperparameter selection experiments were carried out.In addition,to verify the superiority of the proposed recognition method,the method is compared with several common methods such as LSTM,CNN and SVM.The results show that the average recognition accuracy can reach 97.78%,which has a good recognition eff ect.Finally,according to the experimental results of gait pattern switching,the proposed method can identify the switching gait pattern in time,which shows that it has good real-time performance.
