Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait

Mohamed Irfan Mohamed Refai, Bert-Jan F. van Beijnum, Jaap H. Buurke, Mique Saes, Johannes B.J. Bussmann, Carel G.M. Meskers, Erwin van Wegen, Gert Kwakkel, Petrus H. Veltink

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2% of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.
Original languageEnglish
Title of host publication2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
ISBN (Electronic) 978-1-5386-1311-5
DOIs
Publication statusPublished - 7 Oct 2019
Event41st International Engineering in Medicine and Biology Conference, EMBC 2019: Biomedical Engineering Ranging from Wellness to Intensive Care Medicine - CityCube Berlin, Berlin, Germany
Duration: 23 Jul 201927 Jul 2019
Conference number: 41
https://embc.embs.org/2019/

Conference

Conference41st International Engineering in Medicine and Biology Conference, EMBC 2019
Abbreviated titleEMBC
CountryGermany
CityBerlin
Period23/07/1927/07/19
Internet address

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Units of measurement
Sensors
Fusion reactions
Kinematics
Robots
Kinetics

Cite this

Mohamed Refai, M. I., van Beijnum, B-J. F., Buurke, J. H., Saes, M., Bussmann, J. B. J., Meskers, C. G. M., ... Veltink, P. H. (2019). Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) https://doi.org/10.1109/EMBC.2019.8857314
Mohamed Refai, Mohamed Irfan ; van Beijnum, Bert-Jan F. ; Buurke, Jaap H. ; Saes, Mique ; Bussmann, Johannes B.J. ; Meskers, Carel G.M. ; van Wegen, Erwin ; Kwakkel, Gert ; Veltink, Petrus H. / Portable Gait Lab : Zero Moment Point for Minimal Sensing of Gait. 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 2019.
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abstract = "Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2{\%} of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.",
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Mohamed Refai, MI, van Beijnum, B-JF, Buurke, JH, Saes, M, Bussmann, JBJ, Meskers, CGM, van Wegen, E, Kwakkel, G & Veltink, PH 2019, Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait. in 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 41st International Engineering in Medicine and Biology Conference, EMBC 2019, Berlin, Germany, 23/07/19. https://doi.org/10.1109/EMBC.2019.8857314

Portable Gait Lab : Zero Moment Point for Minimal Sensing of Gait. / Mohamed Refai, Mohamed Irfan; van Beijnum, Bert-Jan F.; Buurke, Jaap H.; Saes, Mique; Bussmann, Johannes B.J.; Meskers, Carel G.M.; van Wegen, Erwin; Kwakkel, Gert; Veltink, Petrus H.

2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 2019.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2% of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.

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Mohamed Refai MI, van Beijnum B-JF, Buurke JH, Saes M, Bussmann JBJ, Meskers CGM et al. Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 2019 https://doi.org/10.1109/EMBC.2019.8857314