Application of random forest algorithm in terrain recognition to control active above-knee prosthesis
10.3969/j.issn.2095-4344.2015.53.014
- VernacularTitle:基于随机森林算法的地形识别系统在主动型膝上假肢控制中的应用
- Author:
Yan ZHANG
;
Xin GAO
;
Lingling CHEN
;
Haomiao ZHANG
- Publication Type:Journal Article
- From:
Chinese Journal of Tissue Engineering Research
2015;(53):8609-8614
- CountryChina
- Language:Chinese
-
Abstract:
BACKGROUND:In the research of the active above-knee prosthesis, the existing motion pattern recognition methods have shown promising results, but the further improvement of the recognition accuracy and the reduction of the response time are stil necessary. OBJECTIVE:To establish a terrain recognition system based on the random forest algorithm, achieve the identification of the front terrain, and obtain the motion mode of the subject on the terrain for the control of artificial limb. METHODS:A laser distance sensor and an inertial measurement unit sensor were fixed on the waist to col ect the terrain information and human motion signals. The col ected data were filtered and the characteristic values were extracted from the data. The random forest algorithm was applied in the establishment of the classifier, which was used to recognize the terrain. RESULTS AND CONCLUSION:The results showed that the terrain recognition system could recognize level ground, stair ascent/descent and ramp ascent/descent at a high accuracy, which could contribute to the control of the active above-knee prosthesis.
