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Robust foot clearance estimation based on the integration of foot-mounted IMU acceleration data

Benoussaad, Mourad and Sijobert, Benoît and Mombaur, Katja and Azevedo-Coste, Christine Robust foot clearance estimation based on the integration of foot-mounted IMU acceleration data. (2015) Sensors, 16 (1). 2-13. ISSN 1424-8220

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Official URL: http://dx.doi.org/10.3390/s16010012


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.

Item Type:Article
Additional Information:Thanks to MDPI-Open access publishing editor. The definitive version is available at : http://www.mdpi.com/
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Other partners > Universität Heidelberg (GERMANY)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
French research institutions > Institut National de la Recherche en Informatique et en Automatique - INRIA (FRANCE)
Other partners > Université de Montpellier 2 (FRANCE)
Laboratory name:
Deposited On:27 Jan 2016 09:54

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