摘要
Leg amputations are common in accidents and diseases.The present active bionic legs use Electromyography(EMG)signals in lower limbs(just before the location of the amputation)to generate active control signals.The active control with EMGs greatly limits the potential of using these bionic legs because most accidents and diseases cause severe damages to tissues/muscles which originates EMG signals.As an alternative,the present research attempted to use an upper limb swing pattern to control an active bionic leg.A deep neural network(DNN)model is implemented to recognize the patterns in upper limb swing,and it is used to translate these signals into active control input of a bionic leg.The proposed approach can generate a full gait cycle within 1082 milliseconds,and it is comparable to the normal(a person without any disability)1070 milliseconds gait cycle.
作者简介
Thisara PATHIRANA,received his B.Eng.(Hons)degree from The Open University of Sri Lanka,Nugegoda,Sri Lanka,in 2019.He currently pursues his M.Phil.degree program at the same university.Hismain research interests includebionic leg development,computer vision,AI,mobile robotics and soft robotics.E-mail:thisarapathirana@ieee.org;Hiroshan GUNAWARDANE,received his B.Eng.(Hons)degree from The Open University of Sri Lanka,Sri Lanka and M.Sc.degree from The University of British Columbia,Canada.He is currently pursuing the Ph.D.degree in mechanical engineering with the Department of Mechanical Engineering,The University of British Columbia,Canada.He received the Engineering Excellence Award in Sri Lanka for Invention and Innovation in 2018,from the Institution of Engineers of Sri Lanka(IESL)and“Friedman Award for Scholars in Health”in 2020,from Faculty of Graduate and Postdoctoral Studies and the Faculty of Medicine in The University of British Columbia,Canada.His research interests include soft robotics and biomedical engineering.Email:hiroshan@mail.ubc.ca;Nimali T MEDAGEDARA,received B.Sc.(Hons)in Mechanical Engineering from the University of Peradeniya(Sri Lanka)in 1993,and M.Phil.in Materials and Manufacturing Engineering from Sheffield Hallam University(UK).She is a charted engineer and member of the Institute of Engi neers Sri Lanka(IESL),Member of IEEE and Member of SLAAS.She is now a senior lecturer in the open university of Sri Lanka.Her current research interests include soft robotics,finite element analysis and multi axial fatigue.Pre sently she is the principal investigator in the Soft Robotics Research Group(SORRG)(https://www.ou.ac.lk/SRRG/)of OUSL.Email:tmmed@ou.ac.lk
