Next Article in Journal
Absolute Radiometric Calibration of ALS Intensity Data: Effects on Accuracy and Target Classification
Previous Article in Journal
Simplistic Attachment and Multispectral Imaging with Semiconductor Nanocrystals
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)
View Full-Text   |   Download PDF [1165 KB, uploaded 21 June 2014]   |   Browse Figures


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) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
MDPI and ACS Style

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.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


Cited By

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert