Year: 2025
Type: article
Abstract: Fall incidents due to slips are some of the most common causes of injuries for industry workers and older adults, motivating research to assist balance recovery following slips. To assist balance recovery during a slip, a detection algorithm that can work with an assistive device, such as an exoskeleton, needs to be able to detect slips rapidly after onset, which remains a critical gap in the field. Here, we compared the ability of linear discriminant analysis (LDA), extreme gradient boosting (XGBoost), and convolutional neural networks (CNN) to detect slip using only native sensors on a hip exoskeleton. We trained and evaluated user-independent models on early-stance (ES) and late-stance (LS) slips of various magnitudes collected through treadmill-based slips. All models, except LDA with LS slips, detected slips with >90% accuracy. Overall, he best model was XGBoost, with its fastest results achieving average detection times and median accuracies of 155.06 ms at 96.25% for ES slips and 228.88 ms at 93.75% for LS slips, while also achieving 100% sensitivity at 195.64 ms (ES) and 266.24 ms (LS). Our results indicate a promising direction for further research into designing a generalizable model for balance recovery during slip perturbations using robotic hip exoskeletons.
Institution: Georgia Institute of Technology
Language: English
Field: Health Professions
Domain: Health Sciences
Open Access status: green
Awards: A new framework for self-adaptive artificial intelligence to personalize assistance for patients using robotic exoskeletons and prostheses, G3083777985, NRT: Accessibility, Rehabilitation, and Movement Science (ARMS): An Interdisciplinary Traineeship Program in Human-Centered Robotics, Graduate Research Fellowship Program (GRFP), NRI: FND: Robotic Human Enhancement Enabled through Wearable Hip Exoskeletons Capable of Community Ambulation, G8635121890
OpenAlex ID: W4409427842