Aziz, FadyFadyAzizElmakhzangy, BassamBassamElmakhzangyMaufroy, ChristopheChristopheMaufroySchneider, UrsUrsSchneiderHuber, MarcoMarcoHuber2022-05-062022-05-062021https://publica.fraunhofer.de/handle/publica/41727510.23919/EUSIPCO54536.2021.9616209Lower extremity amputees face challenges in natural locomotion, which is partially compensated using powered assistive systems, e.g., micro-processor controlled prosthetic leg. In this paper, a radar-based perception system is proposed to assist prosthetic legs for autonomous obstacle traversing, focusing on multiple-step staircases. The presented perception system is composed of a radar module operating with a multiple-input-multiple-output (MIMO) configuration to localize consecutive stair corners. An inertial measurement unit (IMU) is integrated for coordinates correction due to the angular dis-positioning that occurs because of the knee angular motion. The captured information from both sensors is used for staircase dimensioning (depth and height). A shallow neural network (NN) is proposed to model the error due to the hardware limitations and enhance the dimension estimation accuracy (≈ 1 cm). The algorithm is implemented on a microcontroller subsystem of the radar kit to qualify the perception system for embedded integration in powered prosthetic legs.enRadarBeinprotheseSensorikDimRad: A Radar-Based Perception System for Prosthetic Leg Barrier Traversingconference paper