TY - GEN
T1 - Portable Gait Lab
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
AU - Refai, Mohamed Irfan Mohamed
AU - Van Beijnum, Bert Jan F.
AU - Buurke, Jaap H.
AU - Saes, Mique
AU - Bussmann, Johannes B.J.
AU - Meskers, Carel G.
AU - Wegen, Erwin Van
AU - Kwakkel, Gert
AU - Veltink, Peter H.
PY - 2019/7/1
Y1 - 2019/7/1
N2 - Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2% of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.
AB - Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2% of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.
UR - http://www.scopus.com/inward/record.url?scp=85077873042&partnerID=8YFLogxK
UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85077873042&origin=inward
UR - https://www.ncbi.nlm.nih.gov/pubmed/31946310
U2 - https://doi.org/10.1109/embc.2019.8857314
DO - https://doi.org/10.1109/embc.2019.8857314
M3 - Conference contribution
C2 - 31946310
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 2077
EP - 2081
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 July 2019 through 27 July 2019
ER -