IEEE Computational Intelligence Magazine - August 2021 - 7

with human walking intention is the
basic requirement of human walking
assistance. Hence, the human walking
intention must be estimated first to
ensure the exoskeleton will not impede
human motion. Actually, estimating
human walking intention is to estimate
human joint torque during walking. In
order to estimate a smooth personalized
human joint torque profile, an online
learning and prediction algorithm of
human joint trajectory and joint torque
is proposed in this article. The algorithm
is based on the dynamical movement
primitives model which is used for
online learning and predicting human
joint trajectory which is substituted into
the human dynamics model to estimate
the human joint torque. The results of
human walking experiments demonstrate
that the proposed algorithm can
not only predict a smooth human joint
trajectory and joint torque profile in real
time but also compensate the phase
delay caused by sensor signal filtering.
Hence, the proposed algorithm is suitable
for the active walking assistance
control of exoskeleton. "
IEEE Transactions on Emerging
Topics in Computational Intelligence
Evaluating Evolving Structure in Streaming
Data With Modified Dunn's Indices,
(continued on page 94)
Call for Papers for Journal Special Issues
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Digital Object Identifier 10.1109/MCI.2021.3084499
AUGUST 2021 | IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE 7

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IEEE Computational Intelligence Magazine - August 2021

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