TY - GEN
T1 - Comparison of Filtering Methods in Measuring Human ZMP Using Kinect Sensor
AU - Nagasawa, Toshiyuki
AU - Tawaki, Yuta
AU - Murakami, Toshiyuki
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper aims to verify the detection accuracy of Zero Moment Point (ZMP) measurements of the human body using the Kinect sensor. In this paper, ZMP is measured based on a multi-link model of the human body. ZMP calculation algorithms using a Low Pass Filter (LPF) and Savitzky-Golay (SG) filter were constructed to investigate filtering methods that can measure ZMP with high accuracy and small lag. The accuracy and responsiveness of these filters were evaluated through experiments measuring ZMP during human walking. Experimental results show that the detection error in ZMP is dominated by the differential noise in the acceleration calculation, and applying the filter only to measured acceleration values increases responsiveness with the same accuracy as when applied to ZMP. We also found that the SG filter is superior to LPF in noise suppression and responsiveness of ZMP measurements, though it occurs overshoot in measurements.
AB - This paper aims to verify the detection accuracy of Zero Moment Point (ZMP) measurements of the human body using the Kinect sensor. In this paper, ZMP is measured based on a multi-link model of the human body. ZMP calculation algorithms using a Low Pass Filter (LPF) and Savitzky-Golay (SG) filter were constructed to investigate filtering methods that can measure ZMP with high accuracy and small lag. The accuracy and responsiveness of these filters were evaluated through experiments measuring ZMP during human walking. Experimental results show that the detection error in ZMP is dominated by the differential noise in the acceleration calculation, and applying the filter only to measured acceleration values increases responsiveness with the same accuracy as when applied to ZMP. We also found that the SG filter is superior to LPF in noise suppression and responsiveness of ZMP measurements, though it occurs overshoot in measurements.
KW - Digital Filtering
KW - Human motion analysis
KW - Human multi-link model
KW - Kinect Sensor
KW - Zero Moment Point
UR - http://www.scopus.com/inward/record.url?scp=85143884869&partnerID=8YFLogxK
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U2 - 10.1109/IECON49645.2022.9969023
DO - 10.1109/IECON49645.2022.9969023
M3 - Conference contribution
AN - SCOPUS:85143884869
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Y2 - 17 October 2022 through 20 October 2022
ER -