Ambulatory estimation of relative foot positions by fusing ultrasound and inertial sensor data

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Abstract

Relative foot position estimation is important for rehabilitation, sports training and functional diagnostics. In this paper an extended Kalman filter fusing ultrasound range estimates and inertial sensors is described. With this filter several gait parameters can be estimated ambulatory. Step lengths and stride widths from 54 walking trials of three healthy subjects were estimated and compared to an optical reference. Mean ( standard deviation) of absolute difference was 1.7 cm (1.8 cm) and 1.2 cm (1.2 cm) for step length and stride width respectively. Walking with a turn and walking around in a square area were also investigated and resulted in mean absolute differences of 1.7 cm (2.0 cm) and 1.5 cm (1.5 cm) for step lengths and stride widths. In addition to these relative positions, velocities, orientations and stance and swing times can also be estimated. We conclude that the presented system is low-cost and provides a complete description of footstep kinematics and timing.
Original languageUndefined
Pages (from-to)817-826
Number of pages10
JournalIEEE transactions on neural systems and rehabilitation engineering
Volume23
Issue number5
DOIs
Publication statusPublished - 15 Sep 2015

Keywords

  • ultrasound range
  • EWI-25094
  • Sensor fusion
  • Inertial Sensors
  • BSS-Biomechatronics and rehabilitation technology
  • relative foot positions
  • METIS-306038
  • IR-91901

Cite this

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title = "Ambulatory estimation of relative foot positions by fusing ultrasound and inertial sensor data",
abstract = "Relative foot position estimation is important for rehabilitation, sports training and functional diagnostics. In this paper an extended Kalman filter fusing ultrasound range estimates and inertial sensors is described. With this filter several gait parameters can be estimated ambulatory. Step lengths and stride widths from 54 walking trials of three healthy subjects were estimated and compared to an optical reference. Mean ( standard deviation) of absolute difference was 1.7 cm (1.8 cm) and 1.2 cm (1.2 cm) for step length and stride width respectively. Walking with a turn and walking around in a square area were also investigated and resulted in mean absolute differences of 1.7 cm (2.0 cm) and 1.5 cm (1.5 cm) for step lengths and stride widths. In addition to these relative positions, velocities, orientations and stance and swing times can also be estimated. We conclude that the presented system is low-cost and provides a complete description of footstep kinematics and timing.",
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author = "D. Weenk and D. Roetenberg and {van Beijnum}, {Bernhard J.F.} and Hermens, {Hermanus J.} and Veltink, {Petrus H.}",
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Ambulatory estimation of relative foot positions by fusing ultrasound and inertial sensor data. / Weenk, D.; Roetenberg, D.; van Beijnum, Bernhard J.F.; Hermens, Hermanus J.; Veltink, Petrus H.

In: IEEE transactions on neural systems and rehabilitation engineering, Vol. 23, No. 5, 15.09.2015, p. 817-826.

Research output: Contribution to journalArticleAcademicpeer-review

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AU - Weenk, D.

AU - Roetenberg, D.

AU - van Beijnum, Bernhard J.F.

AU - Hermens, Hermanus J.

AU - Veltink, Petrus H.

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N2 - Relative foot position estimation is important for rehabilitation, sports training and functional diagnostics. In this paper an extended Kalman filter fusing ultrasound range estimates and inertial sensors is described. With this filter several gait parameters can be estimated ambulatory. Step lengths and stride widths from 54 walking trials of three healthy subjects were estimated and compared to an optical reference. Mean ( standard deviation) of absolute difference was 1.7 cm (1.8 cm) and 1.2 cm (1.2 cm) for step length and stride width respectively. Walking with a turn and walking around in a square area were also investigated and resulted in mean absolute differences of 1.7 cm (2.0 cm) and 1.5 cm (1.5 cm) for step lengths and stride widths. In addition to these relative positions, velocities, orientations and stance and swing times can also be estimated. We conclude that the presented system is low-cost and provides a complete description of footstep kinematics and timing.

AB - Relative foot position estimation is important for rehabilitation, sports training and functional diagnostics. In this paper an extended Kalman filter fusing ultrasound range estimates and inertial sensors is described. With this filter several gait parameters can be estimated ambulatory. Step lengths and stride widths from 54 walking trials of three healthy subjects were estimated and compared to an optical reference. Mean ( standard deviation) of absolute difference was 1.7 cm (1.8 cm) and 1.2 cm (1.2 cm) for step length and stride width respectively. Walking with a turn and walking around in a square area were also investigated and resulted in mean absolute differences of 1.7 cm (2.0 cm) and 1.5 cm (1.5 cm) for step lengths and stride widths. In addition to these relative positions, velocities, orientations and stance and swing times can also be estimated. We conclude that the presented system is low-cost and provides a complete description of footstep kinematics and timing.

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