A basic study on variable-gain Kalman filter based on angle error calculated from acceleration signals for lower limb angle measurement with inertial sensors

Yuta Teruyama, Takashi Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this study, development of wearable motion measurement system using inertial sensors has been focused with the aim of rehabilitation support. For measurement of lower limb joint angles with inertial sensors, Kalman-filtering-based angle measurement method was developed. However, it was required to reduce variation of measurement errors that depended on movement speeds or subjects. In this report, variable-gain Kalman filter based on the difference between the estimated angle by the Kalman filter and the angle calculated from acceleration signals was tested. From angle measurement during treadmill walking with healthy subjects, it was shown that measurement accuracy of the foot inclination angle was significantly improved with the proposed method compared to the method of fixed parameter value.

Original languageEnglish
Title of host publication2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages3423-3426
Number of pages4
DOIs
Publication statusPublished - 2013
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
Duration: 2013 Jul 32013 Jul 7

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CountryJapan
CityOsaka
Period13/7/313/7/7

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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