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

*Corresponding author for this work

    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

    Fingerprint

    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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    title = "Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait",
    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.",
    author = "{Mohamed Refai}, {Mohamed Irfan} and {van Beijnum}, {Bert-Jan F.} and Buurke, {Jaap H.} and Mique Saes and Bussmann, {Johannes B.J.} and Meskers, {Carel G.M.} and {van Wegen}, Erwin and Gert Kwakkel and Veltink, {Petrus H.}",
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    month = "10",
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    doi = "10.1109/EMBC.2019.8857314",
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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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    AU - Mohamed Refai, Mohamed Irfan

    AU - van Beijnum, Bert-Jan F.

    AU - Buurke, Jaap H.

    AU - Saes, Mique

    AU - Bussmann, Johannes B.J.

    AU - Meskers, Carel G.M.

    AU - van Wegen, Erwin

    AU - Kwakkel, Gert

    AU - Veltink, Petrus H.

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    N2 - 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.

    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