Comput Methods Programs Biomed - Kinematics based sensory fusion for wearable motion assessment in human walking.

Tópicos

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{ time(1939) patient(1703) rate(768) }
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{ analysi(2126) use(1163) compon(1037) }
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Resumo

Measuring the kinematic parameters in unconstrained human motion is becoming crucial for providing feedback information in wearable robotics and sports monitoring. This paper presents a novel sensory fusion algorithm for assessing the orientations of human body segments in long-term human walking based on signals from wearable sensors. The basic idea of the proposed algorithm is to constantly fuse the measured segment's angular velocity and linear acceleration via known kinematic relations between segments. The wearable sensory system incorporates seven inertial measurement units attached to the human body segments and two instrumented shoe insoles. The proposed system was experimentally validated in a long-term walking on a treadmill and on a polygon with stairs simulating different activities in everyday life. The outputs were compared to the reference parameters measured by a stationary optical system. Results show accurate joint angle measurements (error median below 5?) in all evaluated walking conditions with no expressed drift over time.

Resumo Limpo

measur kinemat paramet unconstrain human motion becom crucial provid feedback inform wearabl robot sport monitor paper present novel sensori fusion algorithm assess orient human bodi segment longterm human walk base signal wearabl sensor basic idea propos algorithm constant fuse measur segment angular veloc linear acceler via known kinemat relat segment wearabl sensori system incorpor seven inerti measur unit attach human bodi segment two instrument shoe insol propos system experiment valid longterm walk treadmil polygon stair simul differ activ everyday life output compar refer paramet measur stationari optic system result show accur joint angl measur error median evalu walk condit express drift time

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