Filtering with rhythms: Application to estimation of gait cycle

摘要

The aim of this paper is to describe a coupled oscillator model for Bayesian inference. The coupled oscillator model comprises of a large number of oscillators with mean-field coupling. The collective dynamics of the oscillators are used to solve an inference problem: the empirical distribution of the population encodes a ‘belief state'' (posterior distribution) that is continuously updated based on noisy measurements. In effect, the coupled oscillator model works as a particle filter. The framework is described here with the aid of a model problem involving estimation of a walking gait cycle. For this problem, the coupled oscillator particle filter is developed, and demonstrated on experimental data taken from an Ankle-foot Orthosis (AFO) device.