Details
| Original language | English |
|---|---|
| Pages (from-to) | 466-469 |
| Number of pages | 4 |
| Journal | Current Directions in Biomedical Engineering |
| Volume | 1 |
| Issue number | 1 |
| Early online date | 12 Sept 2015 |
| Publication status | Published - 2015 |
| Externally published | Yes |
Abstract
Foot orientation can be assessed in realtime by means of a foot-mounted inertial sensor. We consider a method that uses only accelerometer and gyroscope readings to calculate the foot pitch and roll angle, i.e. the foot orientation angle in the sagittal and frontal plane, respectively. Since magnetometers are avoided completely, the method can be used indoors as well as in the proximity of ferromagnetic material and magnetic disturbances. Furthermore, we allow for almost arbitrary mounting orientation in the sense that we only assume one of the local IMU coordinate axes to lie in the sagittal plane of the foot. The method is validated with respect to a conventional optical motion capture system in trials with transfemoral amputees walking with shoes and healthy subjects walking barefoot, both at different velocities. Root mean square deviations of less than 4° are found in all scenarios, while values near 2° are found in slow shoe walking. This demonstrates that the proposed method is suitable for realtime application such as the control of FES-based gait neuroprostheses and active orthoses.
Keywords
- Accelerometers, Gyroscopes, Biomedical Engineering, Foot Orientation, Inertial Measurement Unit, Realtime Motion Assessment, Rehabilitation Engineering
ASJC Scopus subject areas
- Engineering(all)
- Biomedical Engineering
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In: Current Directions in Biomedical Engineering, Vol. 1, No. 1, 2015, p. 466-469.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Realtime assessment of foot orientation by Accelerometers and Gyroscopes
AU - Seel, Thomas
AU - Graurock, David
AU - Schauer, Thomas
N1 - Funding Information: Being conducted in the research project BeMobil, this work is funded by the German Federal Ministry of Research and Education (FKZ 16SV7069K).
PY - 2015
Y1 - 2015
N2 - Foot orientation can be assessed in realtime by means of a foot-mounted inertial sensor. We consider a method that uses only accelerometer and gyroscope readings to calculate the foot pitch and roll angle, i.e. the foot orientation angle in the sagittal and frontal plane, respectively. Since magnetometers are avoided completely, the method can be used indoors as well as in the proximity of ferromagnetic material and magnetic disturbances. Furthermore, we allow for almost arbitrary mounting orientation in the sense that we only assume one of the local IMU coordinate axes to lie in the sagittal plane of the foot. The method is validated with respect to a conventional optical motion capture system in trials with transfemoral amputees walking with shoes and healthy subjects walking barefoot, both at different velocities. Root mean square deviations of less than 4° are found in all scenarios, while values near 2° are found in slow shoe walking. This demonstrates that the proposed method is suitable for realtime application such as the control of FES-based gait neuroprostheses and active orthoses.
AB - Foot orientation can be assessed in realtime by means of a foot-mounted inertial sensor. We consider a method that uses only accelerometer and gyroscope readings to calculate the foot pitch and roll angle, i.e. the foot orientation angle in the sagittal and frontal plane, respectively. Since magnetometers are avoided completely, the method can be used indoors as well as in the proximity of ferromagnetic material and magnetic disturbances. Furthermore, we allow for almost arbitrary mounting orientation in the sense that we only assume one of the local IMU coordinate axes to lie in the sagittal plane of the foot. The method is validated with respect to a conventional optical motion capture system in trials with transfemoral amputees walking with shoes and healthy subjects walking barefoot, both at different velocities. Root mean square deviations of less than 4° are found in all scenarios, while values near 2° are found in slow shoe walking. This demonstrates that the proposed method is suitable for realtime application such as the control of FES-based gait neuroprostheses and active orthoses.
KW - Accelerometers, Gyroscopes
KW - Biomedical Engineering
KW - Foot Orientation
KW - Inertial Measurement Unit
KW - Realtime Motion Assessment
KW - Rehabilitation Engineering
UR - http://www.scopus.com/inward/record.url?scp=84994501105&partnerID=8YFLogxK
U2 - 10.1515/cdbme-2015-0112
DO - 10.1515/cdbme-2015-0112
M3 - Article
AN - SCOPUS:84994501105
VL - 1
SP - 466
EP - 469
JO - Current Directions in Biomedical Engineering
JF - Current Directions in Biomedical Engineering
IS - 1
ER -