An echo-based gait phase determination method of lower limb prosthesis

The gait phase determination is the basis of the control of intelligent prosthesis. The prosthetic usually determines the gait phase according to its own motion parameters, which will cause the asymmetry gait of the prosthesis wearer during level walking due to the lack of contralateral motion information. By using of a variety of sensors installed in the healthy leg and prosthesis, the gait phase determination method based on echo control can achieve good symmetry, but at the same time also made calculation difficult. Based on the existing echo method, a gait phase determination method by utilize of the contralateral motion parameters is proposed. According to gait test data collected from healthy subjects, motion parameters and their relation can be obtained. Then the proposed method can determine its gait phase and contralateral phase. Preliminary experiment is conducted and verified the effective of the method.