Comparison of angle measurements between integral-based and quaternion-based methods using inertial sensors for gait evaluation

Takashi Watanabe, Yuta Teruyama, Kento Ohashi

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

8 Citations (Scopus)

Abstract

The measurement method of lower limb angles, which were based on the integral of angular velocity with Kalman filter, was validated previously in measurement of angles in a plane with a rigid body model of double pendulum and shown to be practical in measurement of angles in the sagittal plane during gait of healthy subjects. In this paper, in order to realize practical measurements of 3 dimensional (3D) movements with inertial sensors, the previously developed integral-based angle calculation method with variable Kalman gain and a quaternion-based one with fixed gain were tested. First, the quaternion-based method showed higher measurement accuracies for angles in the sagittal and the frontal planes during 3D movements of a rigid body model of lower limb than that of the integral-based one. Second, the integral-based method was shown to be effective in measurement of angles in the sagittal plane of healthy subjects during treadmill walking compared to the quaternion-based one, which suggested effectiveness of the variable Kalman gain method. Third, the integral-based method was shown to cause inappropriate results in some cases of calculation of lower limb angles of hemiplegic subjects during gait, while some of such cases could be measured appropriately with the quaternion-based one. The results of this paper suggested that the quaternion-based method would be more effective with a variable Kalman-gain for measurement of 3D movements. The integralbased method was also suggested to be useful for measurement of angles in the sagittal plane of healthy subjects during gait.

Original languageEnglish
Title of host publicationBiomedical Engineering Systems and Technologies - 7th International Joint Conference, BIOSTEC 2014, Revised Selected Papers
EditorsTanja Schultz, Ana Fred, Guy Plantier, Hugo Gamboa
PublisherSpringer-Verlag
Pages274-288
Number of pages15
ISBN (Print)9783319261287
DOIs
Publication statusPublished - 2015 Jan 1
Event7th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2014 - Angers, France
Duration: 2014 Mar 32014 Mar 6

Publication series

NameCommunications in Computer and Information Science
Volume511
ISSN (Print)1865-0929

Other

Other7th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2014
CountryFrance
CityAngers
Period14/3/314/3/6

Keywords

  • Angle
  • Gait
  • Inertial sensor
  • Integral
  • Kalman filter
  • Quaternion
  • Rehabilitation

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

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  • Cite this

    Watanabe, T., Teruyama, Y., & Ohashi, K. (2015). Comparison of angle measurements between integral-based and quaternion-based methods using inertial sensors for gait evaluation. In T. Schultz, A. Fred, G. Plantier, & H. Gamboa (Eds.), Biomedical Engineering Systems and Technologies - 7th International Joint Conference, BIOSTEC 2014, Revised Selected Papers (pp. 274-288). (Communications in Computer and Information Science; Vol. 511). Springer-Verlag. https://doi.org/10.1007/978-3-319-26129-4_18