User intent prediction with a scaled conjugate gradient trained artificial neural network for lower limb amputees using a powered prosthesis

Powered lower limb prostheses have the ability to provide greater mobility for amputee patients. Such prostheses often have pre-programmed modes which can allow activities such as climbing stairs and descending ramps, something which many amputees struggle with when using non-powered limbs. Previous literature has shown how pattern classification can allow seamless transitions between modes with a high accuracy and without any user interaction. Although accurate, training and testing each subject with their own dependent data is time consuming. By using subject independent datasets, whereby a unique subject is tested against a pooled dataset of other subjects, we believe subject training time can be reduced while still achieving an accurate classification. We present here an intent recognition system using an artificial neural network (ANN) with a scaled conjugate gradient learning algorithm to classify gait intention with user-dependent and independent datasets for six unilateral lower limb amputees. We compare these results against a linear discriminant analysis (LDA) classifier. The ANN was found to have significantly lower classification error (P<0.05) than LDA with all user-dependent step-types, as well as transitional steps for user-independent datasets. Both types of classifiers are capable of making fast decisions; 1.29 and 2.83 ms for the LDA and ANN respectively. These results suggest that ANNs can provide suitable and accurate offline classification in prosthesis gait prediction.