Abstract
Accurate estimation of lower body pose during gait is useful in a wide variety of applications, including design of bipedal walking strategies, active prosthetics, exoskeletons, and physical rehabilitation. In this paper an algorithm is developed to estimate joint kinematics during rhythmic motion such as walking, using inertial measurement units attached at the waist, knees, and ankles. The proposed approach combines the extended Kalman filter with a canonical dynamical system to estimate joint angles, positions, and velocities for 3 dimensional rhythmic lower body movement. The system incrementally learns the rhythmic motion over time, improving the estimate over a regular extended Kalman filter, and segmenting the motion into repetitions. The algorithm is validated in simulation and on real human walking data. It is shown to improve joint acceleration and velocity estimates over regular extended Kalman Filter by 40% and 37% respectively.
Original language | English |
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Title of host publication | 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015) |
Editors | Frank Chongwoo Park |
Place of Publication | Piscataway NJ USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 1167-1172 |
Number of pages | 6 |
ISBN (Electronic) | 9781479968855, 9781479968848 |
ISBN (Print) | 9781479968862 |
DOIs | |
Publication status | Published - 28 Dec 2015 |
Externally published | Yes |
Event | IEEE-RAS International Conference on Humanoid Robots 2015 - Seoul, Korea, Republic of (South) Duration: 3 Nov 2015 → 5 Nov 2015 Conference number: 15th |
Publication series
Name | IEEE-RAS International Conference on Humanoid Robots |
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Publisher | IEEE, Institute of Electrical and Electronics Engineers |
ISSN (Print) | 2164-0572 |
ISSN (Electronic) | 2164-0580 |
Conference
Conference | IEEE-RAS International Conference on Humanoid Robots 2015 |
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Abbreviated title | Humanoids 2015 |
Country/Territory | Korea, Republic of (South) |
City | Seoul |
Period | 3/11/15 → 5/11/15 |
Keywords
- Acceleration
- Accelerometers
- Angular velocity
- Kalman filters
- Kinematics
- Legged locomotion
- Robot sensing systems