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

Ryo Eguchi, Ayanori Yorozu, Masaki Takahashi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2019 International Conference on Robotics and Automation, ICRA 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ4876-4881
ページ数6
ISBN(電子版)9781538660263
DOI
出版ステータスPublished - 2019 5月
イベント2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
継続期間: 2019 5月 202019 5月 24

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2019-May
ISSN(印刷版)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
国/地域Canada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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