IMU based single stride identification of humans

Tianxiang Zhang, Michelle Karg, Jonathan Feng Shun Lin, Dana Kulic, Gentiane Venture

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch

6 Citations (Scopus)


To facilitate human-robot interactions with the user, it is necessary for the robot to identify the interaction partner. We propose the use of a single wearable sensor worn at the center of the user's belt to record the gait when the interaction partner approaches the robot. Based on the data of a single gait cycle recorded with a single inertial measurement unit (IMU), we identify a person by his/her walking style. For identification, we first detect individual strides. We introduce a simple feature that characterizes the individual's asymmetry of gait and classify the individual using a Bayes classifier. To evaluate our approach, we collect motion data from 20 persons; the classification accuracy based on the proposed asymmetry-based feature reaches 99.3%. We further investigate the robustness of our approach against slight variations in the sensor placement, variations in speed, and walking straight versus walking on a curved route.

Original languageEnglish
Title of host publication22nd IEEE International Symposium on Robot and Human Interactive Communication
Subtitle of host publication"Living Together, Enjoying Together, and Working Together with Robots!", IEEE RO-MAN 2013
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781479905072
Publication statusPublished - 11 Dec 2013
Externally publishedYes
EventIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2013 - Gyeongju, Korea, Republic of (South)
Duration: 26 Aug 201329 Aug 2013
Conference number: 22nd (Proceedings)

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication


ConferenceIEEE/RSJ International Symposium on Robot and Human Interactive Communication 2013
Abbreviated titleRO-MAN 2013
Country/TerritoryKorea, Republic of (South)
Internet address

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