Gaussian Process Trajectory Learning and Synthesis of Individualized Gait Motions

Jisoo Hong, Changmook Chun, Seung Jong Kim, Frank C. Park

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


This paper proposes a Gaussian process-based method for trajectory learning and generation of individualized gait motions at arbitrary user-designated walking speeds, intended to be used in generating reference motions for robotic gait rehabilitation systems. We utilize a nonlinear dimension reduction technique based on Gaussian process dynamical models (GPDMs), in which the internal dynamics is modeled as a second-order Markov process evolving in a lower-dimensional latent space. After the GPDM parameters are identified with training data obtained from gait motions of healthy subjects walking at different speeds, our method then employs Gaussian process regression (GPR) to predict the initial two states of the latent space dynamics from any arbitrary desired walking speed and the anthropometric parameters of the test subject. Motions are then generated by directly mapping the latent space dynamics to joint trajectories. Experimental studies involving more than 100 subjects indicate that our method generates gait patterns with 30% less mean square prediction errors compared to recent state-of-the-art methods, while also allowing for arbitrary user-specified walking speeds.

Original languageEnglish
Article number8703438
Pages (from-to)1236-1245
Number of pages10
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Issue number6
Publication statusPublished - 2019 Jun

Bibliographical note

Funding Information:
Manuscript received September 9, 2018; revised February 12, 2019; accepted March 13, 2019. Date of publication April 30, 2019; date of current version June 6, 2019. This work was supported in part by the Korea Institute of Science and Technology under Project 2E29680, in part by NAVER LABS, in part by SNU-IAMD, in part by BK21+, in part by MI Technology Innovation Program under Grant 10048320, in part by the National Research Foundation of Korea under Grant NRF-2016R1A5A1938472, in part by the Industrial Core Technology Development Project through MOTIE under Grant 1006-9072, in part by the SNU Soft Robotics ERC, and in part by the SNU BMRR Center under Grant DAPAUD160027ID. (Corresponding author: Frank C. Park.) J. Hong and F. C. Park are with the Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul 08826, South Korea (e-mail: [email protected]; [email protected]).

Publisher Copyright:
© 2001-2011 IEEE.


  • Gait rehabilitation
  • Gaussian process dynamical model
  • Gaussian process regression
  • robot rehabilitation

ASJC Scopus subject areas

  • Internal Medicine
  • General Neuroscience
  • Biomedical Engineering


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