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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
ページ3423-3426
ページ数4
DOI
出版ステータスPublished - 2013
イベント2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
継続期間: 2013 7 32013 7 7

出版物シリーズ

名前Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN(印刷版)1557-170X

Other

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

ASJC Scopus subject areas

  • 信号処理
  • 生体医工学
  • コンピュータ ビジョンおよびパターン認識
  • 健康情報学

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