Knee joint angle estimation by sequential correction of gyroscope bias
Knee joint angle estimation by sequential correction of gyroscope bias
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DOI：
10.1109/mhs56725.2022.10092127
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
Ayuko Saito;Shinichiro Morichi;Satoru Kizawa
中科院分区：
文献类型：
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作者：
Ayuko Saito;Shinichiro Morichi;Satoru Kizawa
为了在本研究中估计步行期间的膝关节角度，设计了卡尔曼滤波器来顺序校正陀螺仪的偏置误差和加速度计的输出。人体运动是由各关节的旋转运动产生的，运动时使身体某一部位的离心加速度和切向加速度的比例增大。因此，所提出的方法考虑离心加速度和切向加速度来校正加速度计输出。在实验室实验中，使用光学 3D 运动分析系统和两个九轴运动传感器在参与者行走时测量四名参与者的膝关节角度。通过比较所提出的传感器融合获得的结果和光学 3D 运动分析系统获得的结果，验证了所提出方法的准确性。
For the estimation of the knee joint angle during walking in this study, a Kalman filter is devised to sequentially correct the bias error of the gyroscope and the output of the accelerometer. Human locomotion is produced by the rotational motion of the respective joints, causing the proportion of the centrifugal acceleration and the tangential acceleration in a part of the body to increase during exercise. Thus, the proposed method considers the centrifugal and tangential acceleration to correct the accelerometer output. During a laboratory experiment, the knee joint angles of four participants are measured using an optical 3D motion analysis system and two nineaxis motion sensors while the participants were walking. The accuracy of the proposed method is verified by comparing the results obtained by the proposed sensor fusion and those obtained with an optical 3D motion analysis system.