Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles

Ryo Eguchi, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Tracking of human legs during walking are key technologies for gait analysis evaluating the movement function of the elderly and patients with gait disorders. Although the motion capture cameras are the gold standard method for gait analysis because of their high accuracy, they are not always accessible in clinical sites because of their cost, scale, and usability. In response, a laser range sensor (LRS), which is used for obstacle avoidance and human detection of mobile robots, has recently been employed for tracking of leg motions. Some previous studies set LRS at shin height and tracked leg motions during walking using three or five observation patterns and the Kalman filtering and data association methods. However, these systems had difficulty in tracking during walking along a circular trajectory including frequent overlaps and occlusions of legs. Therefore, this paper presents a spatiotemporal and kinetic gait analysis system using a single LRS and instrumented insoles and proposes a multisensor fusion algorithm for tracking leg motions. The instrumented insoles are in-shoe devices embedded force sensors and can detect accurate timings of gait events via force sensing. The system identifies gait phases by the fusion algorithm and switches acceleration input added to motion models of tracked legs for the Kalman filter and data association. The tracking performance of the proposed system was evaluated by measuring walking on a circular trajectory in experiments.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4876-4881
Number of pages6
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019 May 1
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 2019 May 202019 May 24

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period19/5/2019/5/24

Fingerprint

Gait analysis
Sensor data fusion
Kinetics
Lasers
Sensors
Trajectories
Collision avoidance
Kalman filters
Mobile robots
Fusion reactions
Cameras
Switches
Costs
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Eguchi, R., Yorozu, A., & Takahashi, M. (2019). Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 4876-4881). [8794271] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794271

Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles. / Eguchi, Ryo; Yorozu, Ayanori; Takahashi, Masaki.

2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 4876-4881 8794271 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Eguchi, R, Yorozu, A & Takahashi, M 2019, Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8794271, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 4876-4881, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 19/5/20. https://doi.org/10.1109/ICRA.2019.8794271
Eguchi R, Yorozu A, Takahashi M. Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 4876-4881. 8794271. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2019.8794271
Eguchi, Ryo ; Yorozu, Ayanori ; Takahashi, Masaki. / Spatiotemporal and kinetic gait analysis system based on multisensor fusion of laser range sensor and instrumented insoles. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 4876-4881 (Proceedings - IEEE International Conference on Robotics and Automation).
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