Rhythmic Extended Kalman Filter for Gait Rehabilitation Motion Estimation and Segmentation

Vladimir Joukov, Vincent Bonnet, Michelle Karg, Gentiane Venture, Dana Kulić

Research output: Contribution to journalArticleResearchpeer-review

14 Citations (Scopus)


This paper proposes a method to enable the use of non-intrusive, small, wearable, and wireless sensors to estimate the pose of the lower body during gait and other periodic motions and to extract objective performance measures useful for physiotherapy. The Rhythmic Extended Kalman Filter (Rhythmic-EKF) algorithm is developed to estimate the pose, learn an individualized model of periodic movement over time, and use the learned model to improve pose estimation. The proposed approach learns a canonical dynamical system model of the movement during online observation, which is used to accurately model the acceleration during pose estimation. The canonical dynamical system models the motion as a periodic signal. The estimated phase and frequency of the motion also allow the proposed approach to segment the motion into repetitions and extract useful features, such as gait symmetry, step length, and mean joint movement and variance. The algorithm is shown to outperform the extended Kalman filter in simulation, on healthy participant data, and stroke patient data. For the healthy participant marching dataset, the Rhythmic-EKF improves joint acceleration and velocity estimates over regular EKF by 40% and 37%, respectively, estimates joint angles with 2.4° root mean squared error, and segments the motion into repetitions with 96% accuracy.

Original languageEnglish
Article number7835278
Pages (from-to)407-418
Number of pages12
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Issue number2
Publication statusPublished - 1 Feb 2018
Externally publishedYes


  • gait rehabilitation
  • Human motion estimation
  • inertial measurement unit
  • motion model learning

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