Lower limb gait recognition based on piezoresistive sensor and IMU signal

LI Hui; XING Ling

Chinese

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Lower limb gait recognition based on piezoresistive sensor and IMU signal

Research & Approach | 更新时间：2026-03-01

- Lower limb gait recognition based on piezoresistive sensor and IMU signal
- Vol. 45, Issue 2, Pages: 12-17(2026)
- 作者机构：
  
  中国科学技术大学工程科学学院,安徽,合肥,230027
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212
- Published：2026
- 稿件说明：
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LI Hui, XING Ling. Lower limb gait recognition based on piezoresistive sensor and IMU signal[J]. 2026, 45(2): 12-17.
DOI：

LI Hui, XING Ling. Lower limb gait recognition based on piezoresistive sensor and IMU signal[J]. 2026, 45(2): 12-17. DOI：

摘要

为了实现下肢外骨骼的按需助力，提出了一种基于压阻传感器和惯性测量单元（IMU）的下肢步态识别方法。设计基于这2种传感器的采集系统，包括硬件搭建和软件开发，实现传感器数据的实时采集与存储。同时，开展多传感器意图识别研究，构建完整的步态识别系统架构，实现离线训练和在线识别算法。实验结果显示:离线模型训练准确率高达99.64%，在线步态识别准确率为89.92%，平均时延19.8ms。该方法有效区分多种下肢步态，实现高精度实时识别，为外骨骼助力控制提供支持。

Abstract

To achieve on-demand assistance for lower limb exoskeletons

a method for lower limb gait recognition based on piezoresistive sensors and inertial measurement unit(IMU)is proposed.A collection system is designed based on these two kinds of sensors

including hardware setup and software development

to realize real-time data acquisition and storage of sensor data.Simultaneously

a study on multi-sensor intention recognition is conducted.A comprehensive architecture of gait recognition system is established and offline training and online recognition algorithms are implemented.Experimental results demonstrate that the accuracy of offline model training achieves 99.64%

while the accuracy of online gait recognition is 89.92% with an average latency of 19.8ms.This method effectively distinguishes various lower limb gait patterns

achieving high-precision real-time recognition

and thus supporting the control of exoskeleton assistance.

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