Realtime assessment of foot orientation by Accelerometers and Gyroscopes
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 magneto...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2015-09-01
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| Series: | Current Directions in Biomedical Engineering |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/cdbme.2015.1.issue-1/cdbme-2015-0112/cdbme-2015-0112.xml?format=INT |
| _version_ | 1811209708120309760 |
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| author | Seel Thomas Graurock David Schauer Thomas |
| author_facet | Seel Thomas Graurock David Schauer Thomas |
| author_sort | Seel Thomas |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-12T04:44:04Z |
| format | Article |
| id | doaj.art-d24d56f39c794cc8a607e9ebb9dc1332 |
| institution | Directory Open Access Journal |
| issn | 2364-5504 |
| language | English |
| last_indexed | 2024-04-12T04:44:04Z |
| publishDate | 2015-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj.art-d24d56f39c794cc8a607e9ebb9dc13322022-12-22T03:47:33ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042015-09-011144646910.1515/cdbme-2015-0112cdbme-2015-0112Realtime assessment of foot orientation by Accelerometers and GyroscopesSeel Thomas0Graurock David1Schauer Thomas2Control Systems Group, TU Berlin, GermanyControl Systems Group, TU Berlin, GermanyControl Systems Group, TU Berlin, GermanyFoot 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.http://www.degruyter.com/view/j/cdbme.2015.1.issue-1/cdbme-2015-0112/cdbme-2015-0112.xml?format=INTBiomedical EngineeringRehabilitation EngineeringInertial Measurement UnitAccelerometers, GyroscopesRealtime Motion AssessmentFoot Orientation |
| spellingShingle | Seel Thomas Graurock David Schauer Thomas Realtime assessment of foot orientation by Accelerometers and Gyroscopes Current Directions in Biomedical Engineering Biomedical Engineering Rehabilitation Engineering Inertial Measurement Unit Accelerometers, Gyroscopes Realtime Motion Assessment Foot Orientation |
| title | Realtime assessment of foot orientation by Accelerometers and Gyroscopes |
| title_full | Realtime assessment of foot orientation by Accelerometers and Gyroscopes |
| title_fullStr | Realtime assessment of foot orientation by Accelerometers and Gyroscopes |
| title_full_unstemmed | Realtime assessment of foot orientation by Accelerometers and Gyroscopes |
| title_short | Realtime assessment of foot orientation by Accelerometers and Gyroscopes |
| title_sort | realtime assessment of foot orientation by accelerometers and gyroscopes |
| topic | Biomedical Engineering Rehabilitation Engineering Inertial Measurement Unit Accelerometers, Gyroscopes Realtime Motion Assessment Foot Orientation |
| url | http://www.degruyter.com/view/j/cdbme.2015.1.issue-1/cdbme-2015-0112/cdbme-2015-0112.xml?format=INT |
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