Kalman-Filtering-Based Joint Angle Measurement with Wireless Wearable Sensor System for Simplified Gait Analysis

Hiroki SAITO  Takashi WATANABE  

IEICE TRANSACTIONS on Information and Systems   Vol.E94-D   No.8   pp.1716-1720
Publication Date: 2011/08/01
Online ISSN: 1745-1361
DOI: 10.1587/transinf.E94.D.1716
Print ISSN: 0916-8532
Type of Manuscript: LETTER
Category: Rehabilitation Engineering and Assistive Technology
gait analysis,  joint angle,  gyroscope,  Kalman filter,  accelerometer,  

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The aim of this study is to realize a simplified gait analysis system using wearable sensors. In this paper, a joint angle measurement method using Kalman filter to correct gyroscope signals from accelerometer signals was examined in measurement of hip, knee and ankle joint angles with a wireless wearable sensor system, in which the sensors were attached on the body without exact positioning. The lower limb joint angles of three healthy subjects were measured during gait with the developed sensor system and a 3D motion measurement system in order to evaluate the measurement accuracy. Then, 10 m walking measurement was performed under different walking speeds with a healthy subject in order to find the usefulness of the system as a simplified gait analysis system. The joint angles were measured with reasonable accuracy, and the system showed joint angle changes that were similar to those shown in a previous report as walking speed changed. It would be necessary to examine the influence of sensor attachment position and method for more stable measurement, and also to study other parameters for gait evaluation.