Portable Gait Lab: Instantaneous centre of mass velocity using three inertial measurement units

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Estimating instantaneous 3D Centre of Mass velocity (VCOM) using wearables can improve ambulatory gait monitoring. Inertial Measurement Units (IMU) are commonly used to estimate VCOM, although, studies have either measured only the magnitude, or use machine learning methods. Here, we propose a three IMU setup, where the VCOM is obtained by a complementary filter method. This method fuses high frequency information achieved using strapdown integration of accelerations measured at the pelvis with low frequency information of VCOM obtained from foot velocities. This method is applied in variable gait which includes turns. The root mean square of the error between the IMU estimated VCOM against a reference VICON measurement was found to be 0.1 ± 0.02 m/s across all walking tasks. This method provides a drift free ambulatory estimation of CoM velocity using minimal IMUs.
Original languageEnglish
Title of host publication2020 IEEE Sensors
Place of PublicationPiscataway, NJ
Number of pages4
ISBN (Electronic)978-1-7281-6801-2
ISBN (Print)978-1-7281-6802-9
Publication statusPublished - 9 Dec 2020
EventIEEE Sensors 2020 - Virtual Event, Virtual, Rotterdam, Netherlands
Duration: 25 Oct 202028 Oct 2020

Publication series

NameProceedings of IEEE Sensors
ISSN (Print)1930-0395
ISSN (Electronic)2168-9229


ConferenceIEEE Sensors 2020
CityVirtual, Rotterdam
Internet address


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