Motion Intention Prediction and Joint Trajectories Generation Toward Lower Limb Prostheses Using EMG and IMU Signals

Yansong Wang, Xu Cheng, Leen Jabban, Xiaohong Sui, Dingguo Zhang

Research output: Contribution to journalArticlepeer-review

8 Citations (SciVal)


Powered intelligent lower limb prostheses have been gaining interest as they provide functionality for walking on different terrains. This study proposes a hierarchical planner for intelligent lower limb prostheses based on sensor fusion and a central pattern generator (CPG). Electromyographic (EMG) and inertial measurement unit (IMU) signals were recorded and fused in the feature and decision levels. The high-level planner consists of cascade classifiers with a gait phase dependence. A secondary classifier for each stand phase and swing phase was developed to recognize five gait patterns. The mid-level planner was designed as a walking frequency estimator based on the Newton method. The low-level planner incorporates the CPG models, achieving the planning of lower limb joint trajectories. The proposed layered planner can recognize the users' walking intention and gait speed in real-time, ensuring coordination between the joints of both legs. Eight healthy subjects were recruited, and the average accuracy of motion pattern recognition reached 99.13% and 99.39% for the standing and swing phases, respectively. The relative root mean square error (RMSE) of the walking frequency estimate was 2.3% under approximately 3.5 m/s gait speed. The promising results indicate that this method effectively predicts the continuous joint angle for lower limb prostheses.

Original languageEnglish
Article number9758822
Pages (from-to)10719-10729
Number of pages11
JournalIEEE Sensors Journal
Issue number11
Early online date18 Apr 2022
Publication statusPublished - 1 Jun 2022


  • EMG
  • IMU
  • Lower limb prosthesis
  • central pattern generator
  • human-machine interfaces
  • sensor fusion

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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