关键词: Lower limb exoskeleton, Gait pattern recognition, LSTM-CNN, Recognition accuracy, Real-time performance

Abstract: This paper describes a novel gait pattern recognition method based on Long Short-Term Memory (LSTM) and Convolutional 
Neural Network (CNN) for lower limb exoskeleton. The Inertial Measurement Unit (IMU) installed on the exoskeleton to 
collect motion information, which is used for LSTM-CNN input. This article considers fi ve common gait patterns, including walking, going up stairs, going down stairs, sitting down, and standing up. In the LSTM-CNN model, the LSTM layer 
is used to process temporal sequences and the CNN layer is used to extract features. To optimize the deep neural network 
structure proposed in this paper, some hyperparameter selection experiments were carried out. In addition, to verify the 
superiority of the proposed recognition method, the method is compared with several common methods such as LSTM, CNN 
and SVM. The results show that the average recognition accuracy can reach 97.78%, which has a good recognition eff ect. 
Finally, according to the experimental results of gait pattern switching, the proposed method can identify the switching gait 
pattern in time, which shows that it has good real-time performance.

Key words: Lower limb exoskeleton, Gait pattern recognition, LSTM-CNN, Recognition accuracy, Real-time performance