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Capacitive Sensing Based Knee-Angle Continuous Estimation by BP Neural Networks

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

In this paper, we propose a capacitive sensing based method for knee joint angle continuous estimation. The motion capture system is used to record the position information of knee joint and output knee joint angel as a fitting target. Two capacitance rings are fixed on the thigh and shank to record the relaxation and contraction of muscles. Three healthy subjects participate in the study. Based on BP (back propagation) neural networks, the map relationships (i.e. model) between capacitance signals and knee joint angles are built. In the continuous estimation of angle, capacitance signals are fed into the model, and then we can get the estimated angles. The error (root mean square) and the cross-correlation coefficient are 4.4\(^\circ \) and 97.01% between the estimated knee joint angles (based on capacitance signals) and actual keen knee-angle. The results show that capacitive sensing method is effective and feasible to estimate the joint angles.

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Acknowledgment

This work was supported by the National Key R&D Program of China (No. 2018YFB1307302, 2018YFF0300606), the National Natural Science Foundation of China (No. 91648207, 61533001), the Beijing Nova Program (No. Z141101001814001) and the Beijing Municipal Science and Technology Project (No. Z181100009218007).

Author information

Authors and Affiliations

  1. The Robotics Research Group, College of Engineering, Peking University, Beijing, 100871, China

    Dongfang Xu & Qining Wang

  2. Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT), Peking University, Beijing, 100871, China

    Qining Wang

  3. Beijing Engineering Research Center of Intelligent Rehabilitation Engineering, Beijing, 100871, China

    Dongfang Xu & Qining Wang

Authors
  1. Dongfang Xu
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  2. Qining Wang
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Corresponding author

Correspondence to Qining Wang .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Xu, D., Wang, Q. (2019). Capacitive Sensing Based Knee-Angle Continuous Estimation by BP Neural Networks. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_6

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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