Effectiveness of variable-gain kalman filter based on angle error calculated from acceleration signals in lower limb angle measurement with inertial sensors

Yuta Teruyama, Takashi Watanabe

研究成果: Article査読

12 被引用数 (Scopus)

抄録

The wearable sensor system developed by our group, which measured lower limb angles using Kalman-filtering-based method, was suggested to be useful in evaluation of gait function for rehabilitation support. However, it was expected to reduce variations of measurement errors. In this paper, a variable-Kalman-gain method based on angle error that was calculated from acceleration signals was proposed to improve measurement accuracy. The proposed method was tested comparing to fixed-gain Kalman filter and a variable-Kalman-gain method that was based on acceleration magnitude used in previous studies. First, in angle measurement in treadmill walking, the proposed method measured lower limb angles with the highest measurement accuracy and improved significantly foot inclination angle measurement, while it improved slightly shank and thigh inclination angles. The variable-gain method based on acceleration magnitude was not effective for our Kalman filter system. Then, in angle measurement of a rigid body model, it was shown that the proposed method had measurement accuracy similar to or higher than results seen in other studies that used markers of camera-based motion measurement system fixing on a rigid plate together with a sensor or on the sensor directly. The proposed method was found to be effective in angle measurement with inertial sensors.

本文言語English
論文番号398042
ジャーナルComputational and Mathematical Methods in Medicine
2013
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 生化学、遺伝学、分子生物学(全般)
  • 免疫学および微生物学(全般)
  • 応用数学

フィンガープリント

「Effectiveness of variable-gain kalman filter based on angle error calculated from acceleration signals in lower limb angle measurement with inertial sensors」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル