Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data
This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-12-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/1/12 |
| _version_ | 1811299785092628480 |
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| author | Mourad Benoussaad Benoît Sijobert Katja Mombaur Christine Azevedo Coste |
| author_facet | Mourad Benoussaad Benoît Sijobert Katja Mombaur Christine Azevedo Coste |
| author_sort | Mourad Benoussaad |
| collection | DOAJ |
| description | This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than 15 % under the various walking conditions. |
| first_indexed | 2024-04-13T06:41:56Z |
| format | Article |
| id | doaj.art-455588cd68b44aeca96cb991ac64bd61 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T06:41:56Z |
| publishDate | 2015-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-455588cd68b44aeca96cb991ac64bd612022-12-22T02:57:43ZengMDPI AGSensors1424-82202015-12-011611210.3390/s16010012s16010012Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration DataMourad Benoussaad0Benoît Sijobert1Katja Mombaur2Christine Azevedo Coste3INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, FranceINRIA, LIRMM, Rue Saint Priest, Montpellier 34000, FranceORB, IWR, University of Heidelberg, Heidelberg 69117, GermanyINRIA, LIRMM, Rue Saint Priest, Montpellier 34000, FranceThis paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than 15 % under the various walking conditions.http://www.mdpi.com/1424-8220/16/1/12foot clearance estimationinertial measurement unit3D transformationdriftless integration |
| spellingShingle | Mourad Benoussaad Benoît Sijobert Katja Mombaur Christine Azevedo Coste Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data Sensors foot clearance estimation inertial measurement unit 3D transformation driftless integration |
| title | Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data |
| title_full | Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data |
| title_fullStr | Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data |
| title_full_unstemmed | Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data |
| title_short | Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data |
| title_sort | robust foot clearance estimation based on the integration of foot mounted imu acceleration data |
| topic | foot clearance estimation inertial measurement unit 3D transformation driftless integration |
| url | http://www.mdpi.com/1424-8220/16/1/12 |
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