Comput Math Methods Med - Effectiveness of variable-gain Kalman filter based on angle error calculated from acceleration signals in lower limb angle measurement with inertial sensors.

Tópicos

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Resumo

The wearable sensor system developed by our group, which measured lower limb angles using Kalman-filtering-based method, was suggested to be useful in evaluation of gait function for rehabilitation support. However, it was expected to reduce variations of measurement errors. In this paper, a variable-Kalman-gain method based on angle error that was calculated from acceleration signals was proposed to improve measurement accuracy. The proposed method was tested comparing to fixed-gain Kalman filter and a variable-Kalman-gain method that was based on acceleration magnitude used in previous studies. First, in angle measurement in treadmill walking, the proposed method measured lower limb angles with the highest measurement accuracy and improved significantly foot inclination angle measurement, while it improved slightly shank and thigh inclination angles. The variable-gain method based on acceleration magnitude was not effective for our Kalman filter system. Then, in angle measurement of a rigid body model, it was shown that the proposed method had measurement accuracy similar to or higher than results seen in other studies that used markers of camera-based motion measurement system fixing on a rigid plate together with a sensor or on the sensor directly. The proposed method was found to be effective in angle measurement with inertial sensors.

Resumo Limpo

wearabl sensor system develop group measur lower limb angl use kalmanfilteringbas method suggest use evalu gait function rehabilit support howev expect reduc variat measur error paper variablekalmangain method base angl error calcul acceler signal propos improv measur accuraci propos method test compar fixedgain kalman filter variablekalmangain method base acceler magnitud use previous studi first angl measur treadmil walk propos method measur lower limb angl highest measur accuraci improv signific foot inclin angl measur improv slight shank thigh inclin angl variablegain method base acceler magnitud effect kalman filter system angl measur rigid bodi model shown propos method measur accuraci similar higher result seen studi use marker camerabas motion measur system fix rigid plate togeth sensor sensor direct propos method found effect angl measur inerti sensor

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