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Open AccessArticle

Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU

1
Arts et Métiers ParisTech, Institut de Biomécanique Humaine George Charpak, 151 Boulevard de l’Hôpital, 75013 Paris, France
2
Proteor®, 6 rue de la redoute, 21850 St Apollinaire, France
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Author to whom correspondence should be addressed.
Sensors 2019, 19(13), 2865; https://doi.org/10.3390/s19132865
Received: 17 May 2019 / Revised: 24 June 2019 / Accepted: 26 June 2019 / Published: 27 June 2019
(This article belongs to the Special Issue Inertial Sensors for Activity Recognition and Classification)
The command of a microprocessor-controlled lower limb prosthesis classically relies on the gait mode recognition. Real time computation of the pose of the prosthesis (i.e., attitude and trajectory) is useful for the correct identification of these modes. In this paper, we present and evaluate an algorithm for the computation of the pose of a lower limb prosthesis, under the constraints of real time applications and limited computing resources. This algorithm uses a nonlinear complementary filter with a variable gain to estimate the attitude of the shank. The trajectory is then computed from the double integration of the accelerometer data corrected from the kinematics of a model of inverted pendulum rolling on a curved arc foot. The results of the proposed algorithm are evaluated against the optoelectronic measurements of walking trials of three people with transfemoral amputation. The root mean square error (RMSE) of the estimated attitude is around 3°, close to the Kalman-based algorithm results reported in similar conditions. The real time correction of the integration of the inertial measurement unit (IMU) acceleration decreases the trajectory error by a factor of 2.5 compared to its direct integration which will result in an improvement of the gait mode recognition. View Full-Text
Keywords: lower limb prosthesis; inertial measurement unit; real time; attitude estimation; trajectory reconstruction; strapdown integration lower limb prosthesis; inertial measurement unit; real time; attitude estimation; trajectory reconstruction; strapdown integration
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MDPI and ACS Style

Duraffourg, C.; Bonnet, X.; Dauriac, B.; Pillet, H. Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU. Sensors 2019, 19, 2865.

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