2025 Real-Time Gait Mode Recognition of Multiple Stair-Climbing Modes for Hip-Assisting Wearable Robots
본문
- Author
- Chanyoung Ko, Kyoungchul Kong, Hyunjin Choi
- Conference
- 10th IFAC Symposium on Mechatronic Systems & 14th IFAC Symposium on Robotics
- Volume
- 59
- Number
- 18
- Page
- 223-228
- Year of publication
- 2025
- Link
- https://doi.org/10.1016/j.ifacol.2025.10.224 92회 연결
Abstract:
This study proposes a real-time gait mode recognition algorithm for hip-assistive wearable robots during stair climbing, focusing on distinguishing step-over-step (SOS) and step-to-step (STS) modes. Biomechanical analysis of hip joint dynamics revealed key differences in swing phase kinematics and kinetics between the two modes. Two gait parameters—hip crossing ratio (ϕHC) and normalized angular velocity (θHC/norm)—were extracted and used to recognize gait modes using the DBSCAN clustering algorithm. The proposed system, implemented on a hip-assistive robot with embedded sensors, achieved a high recognition accuracy of 97.51% across subjects. These results demonstrate the feasibility and generalizability of recognition of multiple stair-climbing gait modes, enabling more adaptive and safe assistance strategies for wearable robotics.