Online tracking of the lower body joint angles using IMUs for gait rehabilitation

Vladimir Joukov, Michelle Karg, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

15 Citations (Scopus)

Abstract

An important field in physiotherapy is the rehabilitation of gait. A continuous assessment and progress tracking of a patient's ability to walk is of clinical interest. Unfortunately the tools available to the therapists are very time-consuming and subjective. Non-intrusive, small, wearable, wireless sensors can be worn by the patients and provide inertial measurements to estimate the pose of the lower body during walking. For this purpose, we propose two different kinematic models of the human lower body. We use an Extended Kalman Filter to estimate the joint angles and show that a variety of sensors, such as accelerometers, gyroscopes, and motion capture markers, can be used and fused together to aid the joint angle estimate. The algorithm is validated on gait data collected from healthy participants.

Original languageEnglish
Title of host publication2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
EditorsJeff Duerk, Jim Ji
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages2310-2313
Number of pages4
ISBN (Electronic)9781424479290
ISBN (Print)9781424479276
DOIs
Publication statusPublished - 6 Nov 2014
Externally publishedYes
EventInternational Conference of the IEEE Engineering in Medicine and Biology Society 2014 - Sheraton Chicago Hotel and Towers, Chicago, United States of America
Duration: 26 Aug 201430 Aug 2014
Conference number: 36th
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/6923026/proceeding (Proceedings)
https://web.archive.org/web/20140331105330/http://embc.embs.org/2014/?page_id=120 (Website)

Conference

ConferenceInternational Conference of the IEEE Engineering in Medicine and Biology Society 2014
Abbreviated titleEMBC 2014
CountryUnited States of America
CityChicago
Period26/08/1430/08/14
Internet address

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