scholarly journals Wearable Inertial Sensor System towards Daily Human Kinematic Gait Analysis: Benchmarking Analysis to MVN BIOMECH

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2185 ◽  
Author(s):  
Joana Figueiredo ◽  
Simão P. Carvalho ◽  
João Paulo Vilas-Boas ◽  
Luís M. Gonçalves ◽  
Juan C. Moreno ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Real Time ◽  
Joint Angle ◽  
Inertial Sensor ◽  
Party Systems ◽  
Lower Limbs ◽  
Third Party ◽  
Sensor System ◽  
Open Architecture ◽  
Kinematic Gait Analysis

This paper presents a cost- and time-effective wearable inertial sensor system, the InertialLAB. It includes gyroscopes and accelerometers for the real-time monitoring of 3D-angular velocity and 3D-acceleration of up to six lower limbs and trunk segment and sagittal joint angle up to six joints. InertialLAB followed an open architecture with a low computational load to be executed by wearable processing units up to 200 Hz for fostering kinematic gait data to third-party systems, advancing similar commercial systems. For joint angle estimation, we developed a trigonometric method based on the segments’ orientation previously computed by fusion-based methods. The validation covered healthy gait patterns in varying speed and terrain (flat, ramp, and stairs) and including turns, extending the experiments approached in the literature. The benchmarking analysis to MVN BIOMECH reported that InertialLAB provides more reliable measures in stairs than in flat terrain and ramp. The joint angle time-series of InertialLAB showed good waveform similarity (>0.898) with MVN BIOMECH, resulting in high reliability and excellent validity. User-independent neural network regression models successfully minimized the drift errors observed in InertialLAB’s joint angles (NRMSE < 0.092). Further, users ranked InertialLAB as good in terms of usability. InertialLAB shows promise for daily kinematic gait analysis and real-time kinematic feedback for wearable third-party systems.

scholarly journals A synchronized visual-inertial sensor system with FPGA pre-processing for accurate real-time SLAM

2014 ◽  
Author(s):  
Janosch Nikolic ◽  
Joern Rehder ◽  
Michael Burri ◽  
Pascal Gohl ◽  
Stefan Leutenegger ◽  
...  
Keyword(s):  
Real Time ◽  
Inertial Sensor ◽  
Sensor System

Effects of sensor position on kinematic data obtained with an inertial sensor system during gait analysis of trotting horses

2017 ◽  
Vol 250 (5) ◽  
pp. 548-553 ◽  
Author(s):  
Valerie J. Moorman ◽  
David D. Frisbie ◽  
Christopher E. Kawcak ◽  
C. Wayne McIlwraith
Keyword(s):  
Gait Analysis ◽  
Inertial Sensor ◽  
Sensor System ◽  
Kinematic Data ◽  
Sensor Position

scholarly journals A Preliminary Test of Measurement of Joint Angles and Stride Length with Wireless Inertial Sensors for Wearable Gait Evaluation System

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Takashi Watanabe ◽  
Hiroki Saito ◽  
Eri Koike ◽  
Kazuki Nitta
Keyword(s):  
Evaluation System ◽  
Stride Length ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Preliminary Test ◽  
Lower Limbs ◽  
Sensor System ◽  
Wearable Sensor ◽  
Joint Angles ◽  
Optical Motion

The purpose of this study is to develop wearable sensor system for gait evaluation using gyroscopes and accelerometers for application to rehabilitation, healthcare and so on. In this paper, simultaneous measurement of joint angles of lower limbs and stride length was tested with a prototype of wearable sensor system. The system measured the joint angles using the Kalman filter. Signals from the sensor attached on the foot were used in the stride length estimation detecting foot movement automatically. Joint angles of the lower limbs were measured with stable and reasonable accuracy compared to those values measured with optical motion measurement system with healthy subjects. It was expected that the stride length measurement with the wearable sensor system would be practical by realizing more stable measurement accuracy. Sensor attachment position was suggested not to affect significantly measurement of slow and normal speed movements in a test with the rigid body model. Joint angle patterns measured in 10 m walking with a healthy subject were similar to common patterns. High correlation between joint angles at some characteristic points and stride velocity were also found adequately. These results suggested that the wireless wearable inertial sensor system could detect characteristics of gait.

scholarly journals Two Open Solutions for Industrial Robot Control: The Case of PUMA 560

Electronics ◽  
2020 ◽  
Vol 9 (6) ◽  
pp. 972 ◽  
Author(s):  
Dejan Jokić ◽  
Slobodan Lubura ◽  
Vladimir Rajs ◽  
Milan Bodić ◽  
Harun Šiljak
Keyword(s):  
Real Time ◽  
Industrial Robot ◽  
Time Windows ◽  
Third Party ◽  
Open Architecture ◽  
Fpga Design ◽  
Robot Controller ◽  
Control Units ◽  
Field Programmable ◽  
Hardware Description

In this paper we present two different, software and reconfigurable hardware, open architecture approaches to the PUMA 560 robot controller implementation, fully document them and provide the full design specification, software code and hardware description. Such solutions are necessary in today’s robotics and industry: deprecated old control units render robotic installations useless and allow no upgrades, advancements, or innovation in an inherently innovative ecosystem. For the sake of simplicity, just the first robot axis is considered. The first approach described is a PC solution with data acquisition I/O board (Humusoft MF634). This board is supported with Matlab Real-Time Windows Toolbox for real-time applications and thus whole controller was designed in Matlab environment. The second approach is a robot controller developed on field programmable gate arrays (FPGA) board. The complexity of FPGA design can be overcome by using a third party software package, such as self-developed Matlab FPGA Real Time Toolbox. In both cases, parameters of motion controller are calculated by using simulation of the PUMA 560 robot first axis motion. Simulations were conducted in Matlab/Simulink using Robotics Toolbox.

scholarly journals Towards Wearable-Inertial-Sensor-Based Gait Posture Evaluation for Subjects with Unbalanced Gaits

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1193 ◽  
Author(s):  
SEN QIU ◽  
Huihui Wang ◽  
Jie Li ◽  
Hongyu Zhao ◽  
Zhelong Wang ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Inertial Sensor ◽  
Strong Support ◽  
3D Models ◽  
Health Condition ◽  
Lower Limbs ◽  
Sensor Nodes ◽  
Human Gait ◽  
Gait Parameters ◽  
Analysis System

Human gait reflects health condition and is widely adopted as a diagnostic basisin clinical practice. This research adopts compact inertial sensor nodes to monitor the functionof human lower limbs, which implies the most fundamental locomotion ability. The proposedwearable gait analysis system captures limb motion and reconstructs 3D models with high accuracy.It can output the kinematic parameters of joint flexion and extension, as well as the displacementdata of human limbs. The experimental results provide strong support for quick access to accuratehuman gait data. This paper aims to provide a clue for how to learn more about gait postureand how wearable gait analysis can enhance clinical outcomes. With an ever-expanding gait database,it is possible to help physiotherapists to quickly discover the causes of abnormal gaits, sports injuryrisks, and chronic pain, and provides guidance for arranging personalized rehabilitation programsfor patients. The proposed framework may eventually become a useful tool for continually monitoringspatio-temporal gait parameters and decision-making in an ambulatory environment.

Sign in / Sign up

Export Citation Format

Share Document