Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data
Identifieur interne : 001907 ( Ncbi/Curation ); précédent : 001906; suivant : 001908Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data
Auteurs : Mourad Benoussaad ; Benoît Sijobert ; Katja Mombaur ; Christine Azevedo CosteSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2015.
Abstract
This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than
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DOI: 10.3390/s16010012
PubMed: 26703622
PubMed Central: 4732045
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data</title><author><name sortKey="Benoussaad, Mourad" sort="Benoussaad, Mourad" uniqKey="Benoussaad M" first="Mourad" last="Benoussaad">Mourad Benoussaad</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author><author><name sortKey="Sijobert, Benoit" sort="Sijobert, Benoit" uniqKey="Sijobert B" first="Benoît" last="Sijobert">Benoît Sijobert</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author><author><name sortKey="Mombaur, Katja" sort="Mombaur, Katja" uniqKey="Mombaur K" first="Katja" last="Mombaur">Katja Mombaur</name><affiliation><nlm:aff id="af2-sensors-16-00012">ORB, IWR, University of Heidelberg, Heidelberg 69117, Germany;<email>katja.mombaur@iwr.uni-heidelberg.de</email></nlm:aff></affiliation></author><author><name sortKey="Azevedo Coste, Christine" sort="Azevedo Coste, Christine" uniqKey="Azevedo Coste C" first="Christine" last="Azevedo Coste">Christine Azevedo Coste</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">26703622</idno><idno type="pmc">4732045</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4732045</idno><idno type="RBID">PMC:4732045</idno><idno type="doi">10.3390/s16010012</idno><date when="2015">2015</date><idno type="wicri:Area/Pmc/Corpus">000158</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Corpus" wicri:corpus="PMC">000158</idno><idno type="wicri:Area/Pmc/Curation">000158</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Curation">000158</idno><idno type="wicri:Area/Pmc/Checkpoint">000157</idno><idno type="wicri:explorRef" wicri:stream="Pmc" wicri:step="Checkpoint">000157</idno><idno type="wicri:Area/Ncbi/Merge">001907</idno><idno type="wicri:Area/Ncbi/Curation">001907</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data</title><author><name sortKey="Benoussaad, Mourad" sort="Benoussaad, Mourad" uniqKey="Benoussaad M" first="Mourad" last="Benoussaad">Mourad Benoussaad</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author><author><name sortKey="Sijobert, Benoit" sort="Sijobert, Benoit" uniqKey="Sijobert B" first="Benoît" last="Sijobert">Benoît Sijobert</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author><author><name sortKey="Mombaur, Katja" sort="Mombaur, Katja" uniqKey="Mombaur K" first="Katja" last="Mombaur">Katja Mombaur</name><affiliation><nlm:aff id="af2-sensors-16-00012">ORB, IWR, University of Heidelberg, Heidelberg 69117, Germany;<email>katja.mombaur@iwr.uni-heidelberg.de</email></nlm:aff></affiliation></author><author><name sortKey="Azevedo Coste, Christine" sort="Azevedo Coste, Christine" uniqKey="Azevedo Coste C" first="Christine" last="Azevedo Coste">Christine Azevedo Coste</name><affiliation><nlm:aff id="af1-sensors-16-00012">INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France;<email>benoit.sijobert@inria.fr</email> (B.S.);<email>christine.azevedo@inria.fr</email> (C.A.C.)</nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than <inline-formula><mml:math id="mm1"><mml:mrow><mml:mn>15</mml:mn><mml:mo>%</mml:mo></mml:mrow></mml:math></inline-formula> under the various walking conditions.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Barrett, R" uniqKey="Barrett R">R. Barrett</name></author><author><name sortKey="Mills, P" uniqKey="Mills P">P. Mills</name></author><author><name sortKey="Begg, R" uniqKey="Begg R">R. 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