Citation

Xinyao Hu, Gim Song Soh. Conf. Proc. IEEE Eng. Med. Biol. Soc. 2014; 2014: 6911-6914.

Copyright

(Copyright © 2014, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/EMBC.2014.6945217

PMID

25571585

Abstract

This paper describes a preliminary study of using four inertial measurement units (IMUs) attached to the heel and pelvis to estimate the joint angles of normal subjects during walking. The IMU, consisting of a 3-D accelerometer and gyroscope, is used to estimate the planar displacement of the heel and pelvis and the angular change of heel in one gait cycle. We then model the gait as a planar 3R serial chain and solve its inverse kinematics by using such information. The results are validated by comparing the estimated joint angles of lower limbs (i.e. hip, knee and ankle angles) with an optical motion capture system. This study can benefit the future research on conducting complete lower limbs kinematics analysis with minimal and unobtrusive wearable sensors.

Language: en