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Sensors 2016, 16(1), 12; doi:10.3390/s16010012

Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data

1
INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France
2
ORB, IWR, University of Heidelberg, Heidelberg 69117, Germany
Current Address: LGP Lab, Tarbes 65000, France
*
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 8 October 2015 / Revised: 25 November 2015 / Accepted: 19 December 2015 / Published: 23 December 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [1545 KB, uploaded 24 December 2015]   |  

Abstract

This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject’s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than 15 % under the various walking conditions. View Full-Text
Keywords: foot clearance estimation; inertial measurement unit; 3D transformation; driftless integration foot clearance estimation; inertial measurement unit; 3D transformation; driftless integration
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Benoussaad, M.; Sijobert, B.; Mombaur, K.; Azevedo Coste, C. Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data. Sensors 2016, 16, 12.

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