Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations
This paper proposes a method for three dimensional gait analysis using wearable sensors and quaternion calculations. Seven sensor units consisting of a tri-axial acceleration and gyro sensors, were fixed to the lower limbs. The acceleration and angular velocity data of each sensor unit were measured...
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2013-07-01
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Online Access: | http://www.mdpi.com/1424-8220/13/7/9321 |
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doaj-55409c0832fa4c2f9f54057ee385c7b22020-11-24T23:58:12ZengMDPI AGSensors1424-82202013-07-011379321934310.3390/s130709321Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion CalculationsHiroaki MiyagawaRyo TakedaShigeru TadanoThis paper proposes a method for three dimensional gait analysis using wearable sensors and quaternion calculations. Seven sensor units consisting of a tri-axial acceleration and gyro sensors, were fixed to the lower limbs. The acceleration and angular velocity data of each sensor unit were measured during level walking. The initial orientations of the sensor units were estimated using acceleration data during upright standing position and the angular displacements were estimated afterwards using angular velocity data during gait. Here, an algorithm based on quaternion calculation was implemented for orientation estimation of the sensor units. The orientations of the sensor units were converted to the orientations of the body segments by a rotation matrix obtained from a calibration trial. Body segment orientations were then used for constructing a three dimensional wire frame animation of the volunteers during the gait. Gait analysis was conducted on five volunteers, and results were compared with those from a camera-based motion analysis system. Comparisons were made for the joint trajectory in the horizontal and sagittal plane. The average RMSE and correlation coefficient (CC) were 10.14 deg and 0.98, 7.88 deg and 0.97, 9.75 deg and 0.78 for the hip, knee and ankle flexion angles, respectively.http://www.mdpi.com/1424-8220/13/7/9321gait analysisacceleration sensorgyro sensorquaternionlower limbjoint angle |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hiroaki Miyagawa Ryo Takeda Shigeru Tadano |
spellingShingle |
Hiroaki Miyagawa Ryo Takeda Shigeru Tadano Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations Sensors gait analysis acceleration sensor gyro sensor quaternion lower limb joint angle |
author_facet |
Hiroaki Miyagawa Ryo Takeda Shigeru Tadano |
author_sort |
Hiroaki Miyagawa |
title |
Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations |
title_short |
Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations |
title_full |
Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations |
title_fullStr |
Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations |
title_full_unstemmed |
Three Dimensional Gait Analysis Using Wearable Acceleration and Gyro Sensors Based on Quaternion Calculations |
title_sort |
three dimensional gait analysis using wearable acceleration and gyro sensors based on quaternion calculations |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2013-07-01 |
description |
This paper proposes a method for three dimensional gait analysis using wearable sensors and quaternion calculations. Seven sensor units consisting of a tri-axial acceleration and gyro sensors, were fixed to the lower limbs. The acceleration and angular velocity data of each sensor unit were measured during level walking. The initial orientations of the sensor units were estimated using acceleration data during upright standing position and the angular displacements were estimated afterwards using angular velocity data during gait. Here, an algorithm based on quaternion calculation was implemented for orientation estimation of the sensor units. The orientations of the sensor units were converted to the orientations of the body segments by a rotation matrix obtained from a calibration trial. Body segment orientations were then used for constructing a three dimensional wire frame animation of the volunteers during the gait. Gait analysis was conducted on five volunteers, and results were compared with those from a camera-based motion analysis system. Comparisons were made for the joint trajectory in the horizontal and sagittal plane. The average RMSE and correlation coefficient (CC) were 10.14 deg and 0.98, 7.88 deg and 0.97, 9.75 deg and 0.78 for the hip, knee and ankle flexion angles, respectively. |
topic |
gait analysis acceleration sensor gyro sensor quaternion lower limb joint angle |
url |
http://www.mdpi.com/1424-8220/13/7/9321 |
work_keys_str_mv |
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