S161013 身体装着型センサによる両足爪先の3次元軌道推定([S16101]生物医学工学における計測と制御)

概要

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Estimation method of gait parameters relating to both feet such as stride width and step length in addition to three-dimensional (3D) trajectory, walking velocity, swing/stance phase duration and toe clearance is introduced. Three-dimensional accelerometer and gyroscope mounted on both the tiptoe are used to derive the 3D trajectory of each tiptoe and to estimate gait parameters relating to each foot. An infrared distance sensor on the right toe is also employed to modify the position of the left foot based on the position of the right foot and to determine the temporal and spatial relation of both feet. Measurements of level walk for 10 [m] straight route and 4[m] x 4[m] square one are performed and the experimental results suggest that the proposed method derive temporal and spatial relation between right foot and left one such as the stride width and step length within certain error rate, and square route is estimated with keeping up the positional relation of both feet.
一般社団法人日本機械学会の論文
2011-09-11