Real-time foot clearance and environment estimation based on foot-mounted wearable sensors

Takahiro Ishikawa, Toshiyuki Murakami

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

The ambulatory gait monitoring systems (AGMS) using wearable devices have a great attention for health monitoring of individuals. Foot clearance is one of gait parameters and an indicator of gait quality and safety. Conventionally, foot clearance is calculated by post-processing using several methods such as extended Kalman filter (EKF), a weighted Fourier linear combiner (WFLC), a simple biomechanical foot model, zero velocity update (ZVU), and optimally filtered direct and reverse integration (OFDRI). However, real-time foot clearance (FC) estimation is required to apply to control of neural prostheses and assistive devices to prevent falling down. In addition, since humans adapt to several environments during gait motion, walking patterns are different among leveled walk, ramp walk, and stair walk. Therefore, environmental recognition also has an important role for the devices. Aim of this study is an implication of a system which performs real-time foot clearance and environment estimation in several situations. Different configurations of infrared (IR) distance sensors are utilized with a foot-mounted inertia measurement unit (IMU: an acceleration sensor, a gyro sensor, a magnetometer, and an air pressure sensor) sensor. Two IR sensors are attached to both sides of a shoe with different orientation. Developed system is tested in case of leveled walk, ramp walk, and stair walk. As the result, the developed system can estimate foot clearance and find characteristics of walking in different gait motion.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5475-5480
ページ数6
ISBN(電子版)9781509066841
DOI
出版ステータスPublished - 2018 12月 26
イベント44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
継続期間: 2018 10月 202018 10月 23

出版物シリーズ

名前Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
国/地域United States
CityWashington
Period18/10/2018/10/23

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学
  • 産業および生産工学
  • 制御と最適化

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