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Sensors 2011, 11(11), 10571-10585; doi:10.3390/s111110571

Kinematics of Gait: New Method for Angle Estimation Based on Accelerometers

1,2,* , 1
1 School of Electrical Engineering, University of Belgrade, Bulevar kralja Aleksandra 73, Belgrade, Serbia 2 Tecnalia Serbia, Vladetina 13/6, Belgrade, Serbia 3 Center for Sensory Motor Interaction, Aalborg University, Fredrik Bajers Vej 7, Aalborg, Denmark
* Author to whom correspondence should be addressed.
Received: 1 October 2011 / Revised: 24 October 2011 / Accepted: 25 October 2011 / Published: 7 November 2011
(This article belongs to the Section Physical Sensors)
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A new method for estimation of angles of leg segments and joints, which uses accelerometer arrays attached to body segments, is described. An array consists of two accelerometers mounted on a rigid rod. The absolute angle of each body segment was determined by band pass filtering of the differences between signals from parallel axes from two accelerometers mounted on the same rod. Joint angles were evaluated by subtracting absolute angles of the neighboring segments. This method eliminates the need for double integration as well as the drift typical for double integration. The efficiency of the algorithm is illustrated by experimental results involving healthy subjects who walked on a treadmill at various speeds, ranging between 0.15 m/s and 2.0 m/s. The validation was performed by comparing the estimated joint angles with the joint angles measured with flexible goniometers. The discrepancies were assessed by the differences between the two sets of data (obtained to be below 6 degrees) and by the Pearson correlation coefficient (greater than 0.97 for the knee angle and greater than 0.85 for the ankle angle).
Keywords: accelerometers; ambulatory system; angles; gait assessment accelerometers; ambulatory system; angles; gait assessment
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Djurić-Jovičić, M.D.; Jovičić, N.S.; Popović, D.B. Kinematics of Gait: New Method for Angle Estimation Based on Accelerometers. Sensors 2011, 11, 10571-10585.

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