Adaptive Random Forest for Gait Prediction in Lower Limb Exoskeleton

To improve the human-machine cooperativity of a wearable lower limb exoskeleton, a gait recognition method based on surface electromyography (sEMG) was proposed. sEMG of rectus femoris, vastus medialis, vastus lateralis, semitendinosus and biceps femoris were acquired. Then, time domain, frequency domain, time-frequency domain and nonlinear features were extracted. The integrated value of electromyography, variance, root mean square and wavelength were selected as the time domain features and the frequency domain feature includes mean power frequency. Wavelet packet energy was selected as the time-frequency domain feature. Nonlinear features including approximate entropy, sample entropy and fuzzy entropy of sEMG were extracted. Classification accuracy of different feature matrices and different muscle groups were constructed and verified. The optimal multi-dimensional fusion feature matrix was determined. Introducing the Bayesian optimization algorithm, the Bayesian optimized Random Forest classification model was constructed to identify different gait phases. Comparing with Random Forest, the accuracy of the optimized Random Forest was improved by 5.89%. Applying Random Forest algorithm with Bayesian optimization to gait prediction based on sEMG, the followership and consistency of gait control in lower limb exoskeleton can be improved.