Assessment of walking features from foot inertial sensing
Assessment of walking features from foot inertial sensing
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DOI：
10.1109/tbme.2004.840727
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发表时间：
2005-03-01
影响因子：
4.6
通讯作者：
Cavallo, F
中科院分区：
文献类型：
--
作者：
Sabatini, AM;Martelloni, C;Cavallo, F
研制了一种动态步态监测系统，用于步态时空参数的估计。该系统的惯性测量单元由双轴加速度计和速率陀螺组成，可重构脚背上被测点的矢状轨迹。设计了步态相位分割程序以确定时间步态参数，包括步幅时间和相对姿态;该程序允许定义进行捷联集成的有效实施所需的时间间隔，其允许估计步幅长度、步行速度和倾斜度。步行速度和倾斜评估的测量准确性进行评估的实验，对成年健康受试者在电动跑步机上行走。在[3，6] km/h和[-5，+15]%区间内，速度和坡度的均方根误差分别小于0.18 km/h和1.52%。基于这些实验的结果，可以得出结论，脚惯性传感是一个很有前途的工具，后续的步态周期的可靠识别和步行速度和倾斜的准确评估。
An ambulatory monitoring system is developed for the estimation of spatio-temporal gait parameters. The inertial measurement unit embedded in the system is composed of one biaxial accelerometer and one rate gyroscope, and it reconstructs the sagittal trajectory of a sensed point on the instep of the foot. A gait phase segmentation procedure is devised to determine temporal gait parameters, including stride time and relative stance; the procedure allows to define the time intervals needed for carrying an efficient implementation of the strapdown integration, which allows to estimate stride length, walking speed, and incline. The measurement accuracy of walking speed and inclines assessments is evaluated by experiments carried on adult healthy subjects walking on a motorized treadmill. Root-mean-square errors less than 0.18 km/h (speed) and 1.52% (incline) are obtained for tested speeds and inclines varying in the intervals [3, 6] km/h and [-5, +15]%, respectively. Based on the results of these experiments, it is concluded that foot inertial sensing is a promising tool for the reliable identification of subsequent gait cycles and the accurate assessment of walking speed and incline.