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Using One Strain Gauge Bridge to Detect Gait Events for a Robotic Prosthesis

Published online by Cambridge University Press:  01 April 2019

Yanggang Feng
The Robotics Research Group, College of Engineering, Peking University, Beijing 100871, China Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT), Peking University, Beijing 100871, China
Qining Wang*
The Robotics Research Group, College of Engineering, Peking University, Beijing 100871, China Beijing Innovation Center for Engineering Science and Advanced Technology (BIC-ESAT), Peking University, Beijing 100871, China Beijing Engineering Research Center of Intelligent Rehabilitation Engineering, Beijing 100871, China
*Corresponding author. E-mail:


For a real-time robotic prosthetic control, gait event detection plays an important role. In this paper, one novel sensor was proposed to realize gait event detection. The sensor includes one strain gauge bridge, which can reflect the entire deformation of carbon-fiber footplate on a robotic prosthesis. Three unilateral transtibial amputees participated in the experiments. Experimental results show that using the proposed sensor method, gait event detection (stance phase and swing phase) accuracy is approximately 100%. Based on the detected gait events, three locomotion modes (sit, stand, and walk) and the corresponding transition modes could be determined. Difference between different gait event detection systems was further conducted.

© Cambridge University Press 2019 

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