Applied Soft Computing 11 (2011) 47574765

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Applied Soft Computing

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ANFIS based knee angle prediction: An approach to design speed adaptive contra lateral controlled AK prosthesis
Deepak Joshi , A. Mishra, Sneh Anand
Center for Biomedical Engineering, IIT Delhi 110016, India

a r t i c l e

i n f o

a b s t r a c t
Prediction of prosthetic knee joint angle plays a crucial role in performance of above knee (AK) prosthesis, as it helps in estimating intended posture and movement of amputee. This paper applies a rst-order Sugeno type ANFIS (Adaptive Neuro-Fuzzy Inference System) to predict the knee angle from contra lateral knee angle with different walking speed. The other two variables to train ANFIS were derivative of knee angle trajectory and the best t curve equation between the trajectories of both knee angles. The average RMSE was 3.4 1.4 with wide range of walking speeds, using few Fuzzy rules. This research work has direct application in the design of a contra lateral controlled speed adaptive AK prosthesis. 2011 Elsevier B.V. All rights reserved.

Article history: Received 21 June 2010 Received in revised form 11 April 2011 Accepted 17 July 2011 Available online 23 July 2011 Keywords: ANFIS Contra lateral Speed adaptive AK prosthesis Knee angle

1. Introduction The angular velocity command for prosthetic knee joint ensures the movement to a desired position with a joint output stiffness, to achieve real time speed adaptation. Concern arises as multiple body mounted sensors are used, creating unwieldy feel for the patient, which may affect the prediction results [1]. The challenge is reduce the number of mounted sensors and yet to achieve desired prediction accuracy. Electromyogram (EMG) from the residual part of the lower limb has been extensively used for control the prosthetic knee joint. Most EMG based prosthetics relies on gait mode recognition for locking mechanics of prosthetic knee joint [27]. Ha et al. used EMG for the angular velocity control of prosthetic knee joint for volitional controlled activities [8]. Donath [9] concluded that use of EMG during gait would be challenging as reliable EMG acquisition will be much challenging in presence of noise pick up and movement artifacts. Further EMG does not give direct information of posture as the joint angle. EMG and knee angle of normal limb was used to predict the knee angle of a prosthetic limb using Radial Basis Function Neural Network (RBFNN) [10]; performance degrades by sweating especially in tropical regions. This enhances fatigue due to increased effort in locomotion. Hence achieving higher accuracy requires the use of numerous electrodes and complex signal processing. In contrast, knee angle measurement is not affected by physiological parameters and can overcome

Corresponding author. E-mail address: joshideepak2004@yahoo.co.in (D. Joshi). 1568-4946/$ see front matter 2011 Elsevier B.V. All rights reserved. doi:10.1016/j.asoc.2011.07.007

the problems. Attempt was made [11] to predict the knee angle from the normal limb knee angle was performed using Neural Network and an Adaptive Neural Controller. The inputs to the network were rst and second order derivatives of the knee angle. It showed better performance than a Linear Quadratic Regulator (LQR) controller with limited range of knee angle and constant speed. Altering gait speed has signicant effect on lower limb kinematics. Further, speed ranges differ among healthy population and patients having stroke and neuromuscular disease. The knee joint kinematics was changed by 010 with walking speed variation of 0.5 m/s. [12]. Lelas et al. observed the reduction in gait speed from 2 to 1 m/s leads to an average absolute change of 4.5 in peak sagittal angles [13]. Five lower limb angles viz. knee, ankle, thigh, shank and foot were predicted with signicant correlations between angles and speed [14]. An algorithm which can predict the knee angle for wide range of walking speeds with a high accuracy needs to be incorporated. Correlation between the speed and contact time of stance phase and the peak exion angle in swing phase was used to control the damping factor with varying speed for designing speed adaptive prosthesis [15]. Present work uses only knee angle to predict the prosthetic knee joint for a wide range of walking speed. A Multi Layer Perceptron (MLP) using back propagation and RBFNN has been used earlier using the history of knee joint angle and ground reaction force (GRF), to predict the knee angle [16]. Investigators have used Proportional Derivative (PD) feedback and plant model along with the Neural Network to predict knee angle [17]. Soft computing tools like Neural Network and fuzzy logic learn from the available dataset and hence avoid the need of plant modeling. Using neural network approach, the acceleration and angular

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Fig. 1. (a) Gait lab with cameras location Fig. 1. (b) Markers in walking trial.

Fig. 2. Data collection protocol.

velocity of foot and shank, in all three dimensions, were used to predict knee angle using Generalized Auxiliary Similarity Information (GASI) with Regression Neural Network. It introduced the algorithm for knee angle prediction with speed variation. Though the lower and higher side of normal speed was restricted to 10% of normal speed, the accuracy found was quite good; however, 24 input variables were used for prediction [18]. ANFIS takes the advantage of learning in Neural Network and uncertainty immunity of Fuzzy Logic. It applies a combination of the least-squares method and the back propagation gradient descent method for training Fuzzy Inference System (FIS) membership function parameters to emulate a given training set. In the past ANFIS has been used in

the modeling of a wire for Electrical Discharge Machining (EDM) as well as in the function approximation of Pneumatic Articial Muscle Force [1921]. Present thesis used ANFIS to obtain the minimum number of rules to predict the knee angle of prosthesis side with wide range of walking speed. The only measurement is the knee angle in sagittal plane while the other two inputs are derived from computation of the knee angle. 2. Materials and methods 2.1. Subjects Sixteen healthy adult male volunteers between 22 and 27 years of age with no obvious and documented neurological or musculoskeletal deciencies participated in this study. All participants provided written informed consent prior to testing.

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Fig. 3. Division of gait cycle into four phases.

Fig. 4. Derivative of all the four phases for a complete gait cycle.

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Curve fitting for Phase 1 70 experimental data curve fitting data 80 Experimental Data Curve Fitting Data Curve Fitting for Phase 2

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Fig. 5. Curve tting for all the gait phase.

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Fig. 6. A typical three input rst-order Sugeno type ANFIS.

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D. Joshi et al. / Applied Soft Computing 11 (2011) 47574765 Table 1 ANFIS parameters and their values. ANFIS parameter type MF type Number of MFs Number of nodes Number of linear parameters Number of non linear parameters Total number of parameters Number of Training data pairs Number of checking data pairs Number of fuzzy rules Value Triangular function 8 136 32 72 104 810 393 32

Fig. 7. Triangular membership function.

2.2. Data collection Data was collected in a 3D motion analysis system using six CCD HiRes cameras from Expert Vision Systems of M/s (Motion Analysis Corporation, Santa Rosa, CA, USA) as illustrated in Fig. 1(a). A set of twenty ve Cleveland Clinic (Cleveland, OH, USA) retroreective surface markers were placed on the subjects to acquire the joint angles during dynamic trials. For this study only knee joints are considered for which the markers were placed as per the trials requirement. Two markers to dene knee centre and axis of rotation were placed along the exion/extension axis of rotation at lateral and medial femoral condyle, during static trial. The static trial was done for anthropometric calibration: one for the left and one for the right leg. Three markers were placed on the lower thigh below the mid point and three on the lower shank below the mid point shown in Fig. 1(b) for walking trials. It was done to ensure the least amount of skin and muscle movement. In order to facilitate unrestricted motion of the subject during walking, the static markers were removed for the walking trials. Walking trials were followed by static trials; however, the order does not matter for any inaccuracy in data collection. The subjects were asked to become accustomed with walking in the laboratory at their normal speed. They were further asked to walk with varying speeds. All this training data was collected from the Ergonomics Lab, Defense Institute of Physiology and Allied Sciences (DIPAS), New Delhi. Data recording began 23 min after the subjects began walking. This was done to adapt the subjects with the walk pathway. Fig. 2 is the schematic for experimental protocol. Seven to eight trials were performed for each locomotive task to get repetitive data for comparison and analysis. The data

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Fig. 9. RMSE for seven subjects.

Error Curves 4.5 training data checking data RMSE (Root Mean Squared Error) 4

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Number of epochs for Model Validation

was analyzed ofine in order to develop the ANFIS algorithm. The corresponding data was used to train and test the network. Data was collected at sampling frequency of 120 Hz. The data was recorded for 3 s during each trial to ensure at least a complete gait cycle. Some of the trials were not included for analysis due to incomplete information because of drop-out of markers or excessive noise. Noise was eliminated from the gathered data using a low pass Butterworth lter with 6.0 Hz cut off [reference]. Collected trials were then tracked using Eva7.0 software (Motion Analysis Coorporation, Santa Rosa, CA, USA) and subsequently exported to Orthotrak 6.2 software (Motion Analysis Coorporation, Santa Rosa, CA, USA). The data from Orhtotrak was imported to Matlab 7.0 for further analysis. Out of 360 samples, the single gait cycle information was used one by one rather than together as the multiple cycles. This was done as the walking speed was observed within the gait cycles for a single trial. Most of the movement was observed in the sagittal plane, hence only the corresponding data is considered for the study. Knee angle derivative was computed using rst order difference. For a constant and uniform sampling rate if the walking speed changes temporal values of knee angle and its derivative also changes. Therefore data with various speeds was included in training the ANFIS.

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Table 2 Mean and standard deviation taken from RMSE calculated from 7 subjects.

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Statistical parameters Mean Standard deviation

Average RMSE ( ) 3.4 1.6

CCC 0.93 0.04

Fig. 8. Error prole for training and checking data.

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(a)

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Crosscorrelation Function between actual and ANFIS output 1 0.9

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Fig. 10. (a) ANFIS performance for complete gait cycle. (b) Cross correlation between ANFIS and actual output.

2.3. Methodology The complete gait cycle was divided into four phases based on magnitude and derivative of the knee angle. Fig. 3 clearly reveals the potential of derivative to discriminate all the four phases on the basis of magnitude and slope sign. The division of the gait cycle has been a popular choice among researchers for analysis and prediction. To estimate the required torque for knee movement the best regression t was applied on the gait cycle [22]. Here the sign and magnitude of the derivative has been taken as the criterion for division of gait cycle into phases. However it was also kept in mind that the phases should be detectable. Fig. 4 shows the slope of all the four phases for a typical walking speed and witness the variation on the sign and magnitude of the derivative. 2.4. Curve tting For all the phases the third order polynomial from curve tting was computed, between the right knee and left knee trajectory. The curve t polynomial output was calculated for each knee angle from contra lateral limb. Following are the third order polynomials for curve tting between phases using least square error criterion Phase 1 RKA=0.0077 (LKA)3 0.35 (LKA)2 +7.5 (LKA) 36 (1)

Fig. 5 shows the used curve tting polynomial output for a typical walking speed. This output, for different speed, was a feature as the ANFIS input. Though the curve tting polynomial itself gives good approximation to predict the knee angle, as the speed changes a unique polynomial does not exist 2.5. ANFIS ANFIS is a class of adaptive networks that are functionally equivalent to fuzzy inference systems. ANFIS architecture represents both Sugeno and Tsukamoto fuzzy models. Here it was rst-order sugeno type ANFIS used to train the data. For a rst-order Sugeno fuzzy model, Fig. 6, a common rule is given below Rule 1 : If x is A1 and y is B1, then f 1 = p1 x + q1 y + r1 (5)

where the parameters dening A1 and B1 membership function along with p1, q1 and r1 modiy during the training. The description of each layer in ANFIS is as following Layer 1 corresponds to the membership function for the crisp inputs. The parameters in this layer are called Premise parameters. The membership function (MF) at layer 1 was found to be best as triangular membership function, given as following

triangle(x; a, b, c) = Phase 2 RKA = 0.005 (LKA)3 0.69 (LKA)2 + 25 (LKA) 190 (2)

xa o, xa , axb c x, b x c cb
o, cx ba

(6)

Phase 3 RKA=0.0005 (LKA)3 +0.074 (LKA)2 2.8 (LKA) + 42 (3)

where the parameters a, b and c, in Fig. 7, determine the coordinates of the three corners of the underlying triangular MF, provided, a < b < c. This was selected heuristically while training ANFIS. Layer2 performs T-norm operation on the incoming inputs. There are several types of T-norm operators. Here AND T-norm operator is used, given by, w = A(x) B(y) (7)

Phase 4 RKA=0.0077 (LKA)3 0.35 (LKA)2 + 7.5 (LKA) 36 (4) LKA Left Knee Angle RKA Right Knee Angle These equations were followed while training the ANFIS with different speed of gait data.

Layer 3 performs normalization operation on incoming signals, given as, wi = wi , w1 + w2 i = 1, 2 (8)

where i is the number of nodes

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Initial ANFIS 1 Membership Function #1 Membership Function #2 1 MF after Training ANFIS Membership Function #1 Membership Function #2

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Fig. 11. Membership function before and after training ANFIS.

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Fig. 12. Fuzzy rules: phase 1 to phase 4 (Clockwise).

Layer 4 performs the multiplication for input from layer 3 and layer 1, given by, wi fi = wi (pi x + qi y + ri ) (9)

Cross-correlation is a measure of similarity of two waveforms as a function of a time-lag applied to one of them and hence has been used here to assess the performance of ANFIS. For discrete functions, the cross-correlation is dened as:
+

Parameters in this layer are referred to as consequent parameters Layer 5 computes the overall output as the summation of all incoming signals, given by, wi fi =
i i

(f g)[n] =

f [m] g[n + m]

wi fi

i wi

As the number of inputs was less, grid partition was used in the input space to design the initial FIS. Subtractive clustering was avoided as the high dimensionality was not obvious here. Number of epochs for training data was selected on the basis of validation data to avoid over training within the subjects. They varied while training for different speeds. 2.6. Training ANFIS applies a combination of the least-squares method and the back propagation gradient descent method for training FIS membership function parameters to emulate a given training data set. More specically, in the forward pass of the hybrid learning algorithm, node outputs go forward until layer 4 and the consequent parameters are identied by the least-squares method. In the backward pass, the error signals propagate backward and the premise parameters are updated by gradient descent [23]. The data collected at variable speed was used for training, checking and testing data. During training the ANFIS both the training and checking data was presented to avoid model over tting. The speeds to train and test the data were chosen randomly and there was no interference between both of them. 3. Results Root Mean Square Error (RMSE) was used as a performance index to calculate the error for training checking and testing data, using the following equation
n

where f and g are ANIFS output and actual output, having m samples each. The n variable corresponds to the lag (in number of samples) by which the time series is shifted. The plot for error in training and checking data for a typical selected phase is shown in Fig. 8. The trained ANFIS, corresponding to the epoch from where the over tting starts, is used as the nal model for testing Fig. 8. Table 1 presents the feature of developed ANFIS. The average RMSE and standard deviation (SD) for seven subjects within random trials is shown in Fig. 9. The overall average RMSE and SD for the subjects with all tested random speed was observed as mean = 3.4 SD = 1.4 . In other way the accuracy achieved is 95.2% of the maximum angle during the complete gait cycle. Performance was also quantied using maximum cross correlation coefcient (CCC) [25] between ANFIS and actual output. The low and high 95% Condence Interval (CI) for maximum CCC is 0.90 and 0.94. Table 2 presents the summary. For a subjects dataset, the plot of actual angle and ANFIS produced angle for a complete gait cycle is shown in Fig. 10(a), while Fig. 10(b) illustrate prole of cross correlation between both. The ANFIS output quite closely matches to the real output. The total numbers of fuzzy rules are 32 for a complete gait cycle. All the phases were having three inputs, eight fuzzy rules and two triangular membership functions. The RMSE for rst, second, third and four phases was 4.3 , 4.2 , 2.2 and 0.5 , respectively. The only signicant change in the membership function after training was found in the derivative feature. Fig. 11 illustrates this change. Triangular membership function was found to be the best among all, heuristically. The details of all fuzzy rules are given below, Fig. 12. 4. Discussion and conclusion The ANFIS application to predict the knee joint angle from contra lateral knee joint angle with different walking speed is presented. ANFIS proved to be quite successful in mapping the high nonlinearity between the trajectories of knee joint angle while walking

RMSE =
m1

(Am Am )

where Am and Am are the mth actual and estimated output, respectively, and n is the total number of samples to be presented.

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D. Joshi et al. / Applied Soft Computing 11 (2011) 47574765 [6] H. Huang, et al., An analysis of EMG electrode conguration for targeted muscle reinnervation based neural machine interface, IEEE Trans. Neural Syst. Rehabil. Eng. 16 (1) (2008) 3745. [7] S.C. Saxena, P. Mukhopadhyay, EMG operated electronic articial-leg controller, Med. Biol. Eng. Comput. 15 (1977) 553557. [8] Kevin H. Ha, Huseyin Atakan Varol, Michael Goldfarb, Volitional control of a prosthetic knee using surface electromyography, IEEE Trans. Biomed. Eng. 58 (1) (2011) 144151. [9] M. Donath, Proportional EMG control for above-knee prosthesis, Masters thesis, Dept. Mech. Eng., MIT, Cambridge, MA, 1974. [10] L. Ju-Won., L. Gun-ki, Gait angle prediction for lower limb orthotics and prostheses using an EMG signal and neural networks, Int. J. Control Autom. Syst. 3 (2005) 152158. [11] L. Ju-Won, L. Gun-ki, Modeling and posture control of lower limb prosthesis using neural networks, Int. J. KIMICS 2 (2004) 110115. [12] M.I. Van Der Linden, A.M. Kerr, M.E. Hazlewood, S.J. Hilllman, J.E. Robb, Kinematic and kinetic gait characteristics of normal children walking at a range of clinically relevant speeds, J. Pediatr. Orthop. 22 (2002) 800806. [13] J.L. Lelas, G.J. Merriman, P.O. Riley, D.C. Kerrigan, Predicting peak kinematic and kinetic parameters from gait speed, Gait Posture 17 (2003) 106112. [14] H. Michael, A. Ross, Prediction methods to account for the effect of gait speed on lower limb angular kinematics, Gait Posture 24 (2006) 280287. [15] H.M. Herr, A. Wilkenfel, O. Bleck, Speed-Adaptive and Patient-Adaptve Prosthetic Knee. U.S. Patent No. 6,610,101 B2, 2001. [16] J. Slavica, J. Tamara, G. Vladimir, P. Dejan, Three machine learning techniques for automatic determination of rules to control locomotion, IEEE Trans. Biomed. Eng. 46 (1999) 300310. [17] D.K. Vojislav, P. Dejan P, T.S. Nils, Feedback error learning neural network for trans-femoral prosthesis, IEEE Trans. Rehabil. Eng. 8 (2000) 7180. [18] Y. John, Goulermas, et al., An instance-based algorithm with auxiliary similarity information for the estimation of gait kinematics from wearable sensors, IEEE Trans. Neural Network 19 (2008) 15741581. [19] H. Alexander, B. Milan, Pneumatic articial muscle force function approximation using ANFIS, J. Appl. Sci. Thermodyn. Fluid Mech. 3 (2009) 15. [20] J.A.P. Cabestan, D.F. Sandoval, Clustering-based TSK neuro-fuzzy model for function approximation with interpretable sub-model, IWANN (2005) 399406. [21] C. Ulas, H. Ahmet, E. Sami, An adaptive neuro-fuzzy inference system (ANFIS) model for wire-EDM, Expert Syst. Appl. 36 (2009) 61356139. [22] S. Frank, B. Amit, G. Michael, Design and control of a powered transfemoral prosthesis, Int. J. Robotic Res. 27 (2008) 263273. [23] Jang J.-S.R., Sun C.-T., Mizutani E., 2006. Neuro-Fuzzy and soft computing a computational approach to learning and machine intelligence, 2nd ed., PHI. [24] B. Roozbeh, B.K. Mir, M. William, Feasibility study on echo control of a prosthetic knee: sensors and wireless communication, Microsyst. Technol. 16 (2009) 257265. [25] Li Li, Graham E. Caldwell, Coefcient of cross correlation and the time domain correspondence, J. Electromyogr. Kinesiol. 9 (1999) 385389. [26] G. Smidt, Hip motion and related factors in walking, Phys. Therapy 51 (1) (1971) 922. [27] S.A. Hale, The effect of walking speed on the joint displacement patterns and forces and moments acting on the above-knee amputee prosthetic leg, J. Prosthetics Orthotics 3 (2) (1991) 5978. [28] A.A. Torki, M.F. Taher, A.S. Ahmed, Design and implementation of a swing phase control system for a prosthetic knee, Int. Conf. Biomed. Eng., CIBEC (2008) 14. [29] F. Pelisse, F. Merie, A. Bouzidi, D. Geiger, Microcontroller use for the assistance of a prosthesis for above knee (AK) amputee, Proc. Annu. Int. Conf. IEEE Eng. Med. Biol. Soc. (1988) 3536.

with different speeds. The results showed the differences in kinematics within the subjects for same walking speed which gives strength to the existing concept of gait signature. Derivative and curve tting proved to be potential features; however, the discontinuity in derivative features during phase transition may lead to sudden jerk at those four points in a complete gait cycle. Based on the analysis in this study the authors recommend high sampling rate of knee angle acquisition to minimize the effect of this discontinuity. The application of ANFIS avoids the need of additional body mounted hardware for hip joint angle measurement [26,27] or foot switch [28,29] for walking speed detection to control the prosthetic knee joint. In earlier attempts, researchers have implemented ANFIS for knee angle prediction. Only three fuzzy rules were obtained from simulation data, to predict the knee angle. However high number of inputs i.e. knee angle and GRF of past seven strides were taken as the inputs [16]. In a recent work in the direction of developing Echo-Controlled prosthesis four inputs i.e. femur angle, tibial angle and their derivatives, were used to predict knee angle of prosthesis side. The developed ANFIS was having 14 membership functions and 14 rules and the overall accuracy of 3.280 [24]. The work presented here achieved the same accuracy using only one measurement. Thus ANFIS can be a potential tool to predict the prosthetic knee angle from contra lateral limb. Further, the derivative and curve tting polynomial proved to be a potential feature in minimizing fuzzy rules and membership functions. Higher accuracy can be achieved provided that ANFIS has been trained with large number of data. This approach leads in designing a cost effective and robust speed adaptive AK Prosthesis, that must incorporate wireless network to transfer the angle information from normal limb to prosthesis side. Radio Frequency (RF) link is being used for wireless transmission as it is short range application i.e. not more than 1 m. Only knee angle is used to avoid the redundancy in body mounted sensors and yet cost effective. Using only knee measurement systems favors comfort among amputees. As the information source for the algorithm is in the normal leg, it also reduces the chance of fatigue among patients. The results depict all the features for prediction of accurate contra lateral prosthetic. Further the derivatives show a potential to discriminate between the phases and hence two successive knee angles will identify the phase and based on the rules of that particular phase, the knee angle can be predicted. The results conrm accurate prediction of contra lateral knee angle using less number of inputs and less membership functions, for different speeds. Acknowledgements Authors acknowledge the support of scientist and staff at the Defense Institute of Physiology and Allied Sciences (DIPAS), New Delhi for the data collection. References
[1] Thomas Campbell Bulea, Design of a Sensor Based Data Collection System for Lower Limb Prosthetic Gait Analysis Undergraduate Thesis dissertation, Department of Mechanical Engineering, Ohio State University, 2005. [2] L. Peeraer, B. Aeyels, G. Van Der Perre, Development of EMG-based mode and intent recognition algorithms for a computer-controlled above-knee prosthesis, J. Biomed. Eng. 12 (1990) 178182. [3] B. Aeyels, L. Peeraer, J.V. Sloten, G. Van der Perre, Development of an aboveknee prosthesis equipped with a microcomputer-controlled knee joint: rst test results, J. Biomed. Eng. 14 (1992) 199202. [4] B.<ETA-L> Aeyels, An EMG-based nite state approach for a microcomputercontrolled above-knee prosthesis, in: Proc. IEEE 17th Annu. Conf. Eng. Med. Biol Soc., vol. 2, 1995, pp. 13151316. [5] H. Huang, T.A. Kuiken, R.D. Lipschutz, A strategy for identifying locomotion modes using surface electromyography, IEEE Trans. Biomed. Eng. 56 (1) (2009) 6573.

Deepak Joshi did B.Tech and M.Tech. in Instrumentation Engineering from Garhwal University and Punjab Technical University, respectively. Currently he is purusing the doctorate from Centre for Biomedical Engineering, IIT Delhi. His research area includes Pattern Recognition and Soft Computing application in Prosthesis Design.

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Ashutosh Mishra received the B.E. degree from Mangalore University, Karnataka, India and the M.S. degree from Old Dominion University, Norfolk, VA, in 1999 and 2003, respectively. He did Ph.D. degree in the Department of Electrical and Computer Engineering, Old Dominion University. His research interests include computational methods, distributed computation, and bio-electrics.

Prof. Sneh Anand did her Graduation in Electrical Engineering, Punjabi University followed by Masters and Doctorate in Instrumenation Engineering and Biomedical Engineering, IIT Delhi respectively. Her research area includes Biomedical Instrumentation, Rehabilitation Engineering and Transdermal Drug Delivery.