Locomotion Mode Classification Based on Support Vector Machines and Hip Joint Angles: A Feasibility Study for Applications in Wearable Robotics

Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 7)


Intention decoding of locomotion-related activities covers an essential role in the control architecture of active orthotic devices for gait assistance. This work presents a subject-independent classification method, based on support vector machines, for the identification of locomotion-related activities, i.e. overground walking, ascending and descending stairs. The algorithm uses features extracted only from hip angles measured by joint encoders integrated on a lower-limb active orthosis for gait assistance. Different sets of features are tested in order to identify the configuration with better performance. The highest success rate (i.e. 99% of correct classification) is achieved using the maximum number of features, namely seven features. In future works the algorithm based on the identified set of features will be implemented on the real-time controller of the active pelvis orthosis and tested in activities of daily life.


Support Vector Machine (SVMs) Locomotion Mode Wearable Robotics Locomotor-related Activity Gait Assistance 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This work was supported in part by the EU within the CYBERLEGs Plus Plus project (H2020-ICT-2016-1 Grant Agreement #731931) and in part by INAIL within the MOTU project (PPR-AI 1-2).

Andrea Parri, Simona Crea and Nicola Vitiello have commercial interests in IUVO s.r.l., a spin off company of Scuola Superiore SantAnna. Currently, the IP protecting the APO technology has been licensed to IUVO s.r.l. for commercial exploitation.


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© Springer International Publishing AG, part of Springer Nature 2019

Authors and Affiliations

  1. 1.The BioRobotics InstituteScuola Superiore SantAnnaPontederaItaly
  2. 2.Don Carlo Gnocchi FoundationMilanItaly
  3. 3.Department of Electrical and Information Engineering (DEI)Polytechnic University of BariBariItaly

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