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  • https://doi.org/10.1109/bddm68348.2025.11442017Copy DOI Icon

A Light-Weight Long Short-Term Memory Neural Network for Gait Phase Estimation

  • Dec 12, 2025
  • Shengbo Ma +3 more
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Abstract

Gait phase is an important state variable that helps exoskeletons provide assistance to users. Exoskeleton systems need to determine the assistance time and calculate the reference assistance force based on the gait phase. A large number of studies have used Finite State Machines (FSMs) or Adaptive Oscillators (AOs) to estimate gait phase. However, FSMs require manual calibration of gait events, and AOs can only estimate the phase of stable gait in real time. Both are difficult to adapt to irregular changes in gait. Deep learning algorithms can learn the nonlinear characteristics of kinematic data to estimate joint torque, gait phase, etc. The control algorithm based on Long Short-Term Memory (LSTM) Neural Network can automatically detect gait events according to the joint angle collected by Inertial Measurement Unit (IMU), effectively responding to dynamic changes in gait. This paper designed a Light-Weight Long Short-Term Memory (LWLSTM) Neural Network to estimate gait phase precisely and reduce training time of LSTM model. The experimental results showed that the Root Mean Square Error (RMSE) of LWLSTM was 8. 0 0 3 3%, quite lower than Convolutional Neural Network (CNN) and AO.

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