# ExoGait-MS: Learning Periodic Dynamics with Multi-Scale Graph Network for Exoskeleton Gait Recognition

arXiv: https://arxiv.org/abs/2505.18018 · HTML: https://mlsanity.com/paper/2505.18018/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 28 references that are in the map.
- First posted on arXiv 23 May 2025.

## Builds on (most cited first, 17 of 17)

- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Spatio-Temporal Graph Convolutional Networks: A Deep Learning Framework for Traffic Forecasting](https://mlsanity.com/paper/1709.04875/) (2017)
- [Learning Trajectory Dependencies for Human Motion Prediction](https://mlsanity.com/paper/1908.05436/) (2019)
- [GaitGraph: Graph Convolutional Network for Skeleton-Based Gait Recognition](https://mlsanity.com/paper/2101.11228/) (2021)
- [EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoning](https://mlsanity.com/paper/2303.10876/) (2023)
- [Multi-Scale Spatial Temporal Graph Convolutional Network for Skeleton-Based Action Recognition](https://mlsanity.com/paper/2206.13028/) (2022)
- [Towards a Deeper Understanding of Skeleton-based Gait Recognition](https://mlsanity.com/paper/2204.07855/) (2022)
- [LidarGait: Benchmarking 3D Gait Recognition with Point Clouds](https://mlsanity.com/paper/2211.10598/) (2022)
- [On Learning Disentangled Representations for Gait Recognition](https://mlsanity.com/paper/1909.03051/) (2019)
- [SkeletonGait: Gait Recognition Using Skeleton Maps](https://mlsanity.com/paper/2311.13444/) (2023)
- [Graph-Based 3D Multi-Person Pose Estimation Using Multi-View Images](https://mlsanity.com/paper/2109.05885/) (2021)
- [Multiscale Spatio-Temporal Graph Neural Networks for 3D Skeleton-Based Motion Prediction](https://mlsanity.com/paper/2108.11244/) (2021)
- [Motion In-Betweening with Phase Manifolds](https://mlsanity.com/paper/2308.12751/) (2023)
- [Gait Recognition Based on Deep Learning: A Survey](https://mlsanity.com/paper/2201.03323/) (2022)
- [GaitMixer: Skeleton-based Gait Representation Learning via Wide-spectrum Multi-axial Mixer](https://mlsanity.com/paper/2210.15491/) (2022)
- [HopFIR: Hop-wise GraphFormer with Intragroup Joint Refinement for 3D Human Pose Estimation](https://mlsanity.com/paper/2302.14581/) (2023)
- [Applied Exoskeleton Technology: A Comprehensive Review of Physical and Cognitive Human-Robot Interaction](https://mlsanity.com/paper/2111.12860/) (2021)

## Abstract (arXiv)

Current exoskeleton control methods often face challenges in delivering personalized treatment. Standardized walking gaits can lead to patient discomfort or even injury. Therefore, personalized gait is essential for the effectiveness of exoskeleton robots, as it directly impacts their adaptability, comfort, and rehabilitation outcomes for individual users. To enable personalized treatment in exoskeleton-assisted therapy and related applications, accurate recognition of personal gait is crucial for implementing tailored gait control. The key challenge in gait recognition lies in effectively capturing individual differences in subtle gait features caused by joint synergy, such as step frequency and step length. To tackle this issue, we propose a novel approach, which uses Multi-Scale Global Dense Graph Convolutional Networks (GCN) in the spatial domain to identify latent joint synergy patterns. Moreover, we propose a Gait Non-linear Periodic Dynamics Learning module to effectively capture the periodic characteristics of gait in the temporal domain. To support our individual gait recognition task, we have constructed a comprehensive gait dataset that ensures both completeness and reliability. Our experimental results demonstrate that our method achieves an impressive accuracy of 94.34% on this dataset, surpassing the current state-of-the-art (SOTA) by 3.77%. This advancement underscores the potential of our approach to enhance personalized gait control in exoskeleton-assisted therapy.