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Sensors 2014, 14(9), 16955-16971; https://doi.org/10.3390/s140916955

Whole Body Center of Mass Estimation with Portable Sensors: Using the Statically Equivalent Serial Chain and a Kinect

1
INRIA (Institut National de Recherche en Informatique et en Automatique), DEMAR Team, Montpellier 34095, France
2
LIRMM (Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier), University of Montpellier 2, Montpellier 34090, France
3
Movement to Health (M2H) Laboratory, EuroMov, University of Montpellier 1, Montpellier 34090, France
*
Author to whom correspondence should be addressed.
Received: 16 April 2014 / Revised: 5 August 2014 / Accepted: 7 August 2014 / Published: 11 September 2014
(This article belongs to the Special Issue Biomedical Sensors and Systems)
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Abstract

The trajectory of the whole body center of mass (CoM) is useful as a reliable metric of postural stability. If the evaluation of a subject-specific CoM were available outside of the laboratory environment, it would improve the assessment of the effects of physical rehabilitation. This paper develops a method that enables tracking CoM position using low-cost sensors that can be moved around by a therapist or easily installed inside a patient’s home. Here, we compare the accuracy of a personalized CoM estimation using the statically equivalent serial chain (SESC) method and measurements obtained with the Kinect to the case of a SESC obtained with high-end equipment (Vicon). We also compare these estimates to literature-based ones for both sensors. The method was validated with seven able-bodied volunteers for whom the SESC was identified using 40 static postures. The literature-based estimation with Vicon measurements had a average error 24.9 ± 3.7 mm; this error was reduced to 12.8 ± 9.1 mm with the SESC identification. When using Kinect measurements, the literature-based estimate had an error of 118.4 ± 50.0 mm, while the SESC error was 26.6 ± 6.0 mm. The subject-specific SESC estimate using low-cost sensors has an equivalent performance as the literature-based one with high-end sensors. The SESC method can improve CoM estimation of elderly and neurologically impaired subjects by considering variations in their mass distribution. View Full-Text
Keywords: statically equivalent serial chain (SESC); identification; center of mass (CoM); subject-specificity; Kinect statically equivalent serial chain (SESC); identification; center of mass (CoM); subject-specificity; Kinect
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González, A.; Hayashibe, M.; Bonnet, V.; Fraisse, P. Whole Body Center of Mass Estimation with Portable Sensors: Using the Statically Equivalent Serial Chain and a Kinect. Sensors 2014, 14, 16955-16971.

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