Accurate and real-time gait phase detection is basis of control of intelligent prosthesis and other rehabilitation robot

a real-time phase detection system is proposed. Four foot force sensors and two attitude sensors are used in the system

which can detect phases of heel strike

foot flat

heel off

toe off

swing flexion and swing extend during walking on level ground. The experimental results show that the system can adapt to different walking velocities

different stride length of different subjects

and the experiment of prosthesis control is performed to prove the gait phase detection system can be used to real control of prosthesis.