A study on IMU-based stride length estimation for motor disabled subjects: A comparison under different calculation methods of rotation matrix
A study on IMU-based stride length estimation for motor disabled subjects: A comparison under different calculation methods of rotation matrix
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DOI：
10.1109/bhi.2018.8333372
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发表时间：
2018-03
期刊：
影响因子：
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通讯作者：
Takashi Watanabe;T. Miyazawa;Jun Shibasaki
中科院分区：
文献类型：
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作者：
Takashi Watanabe;T. Miyazawa;Jun Shibasaki
利用单个惯性运动测量单元（IMU）的测量可以用于在医院康复或在家保健中监测步态信息。本研究的重点是步幅估计与惯性测量单元，因为我们的初步研究表明，不同的估计误差之间的一些偏瘫科目。这被认为是由健康受试者和瘫痪受试者之间步行过程中的足部运动差异引起的。因此，本研究的目的是评估在不同的计算方法下的步长估计误差的旋转矩阵，需要获得脚的方向。实验结果表明，由欧拉角计算的旋转矩阵对健康人的步态是有效的，但对部分瘫痪者的步态则不适用。由四元数计算的旋转矩阵对健康和瘫痪的受试者都是有效的。基于四元数的方法估计的步长的平均绝对误差小于约5%的健康受试者和偏瘫受试者的非瘫痪侧和偏瘫受试者的瘫痪侧小于6%。3名偏瘫受试者的估计误差平均值小于-4%。步幅的估计方法和积分误差的校正方法需要对许多运动障碍者进行评估。
Measurement with a single inertial motion measurement unit (IMU) can be useful for monitoring gait information in rehabilitation at hospital or healthcare at home. This study focused on stride length estimation with an IMU because our preliminary study showed different estimation errors between some hemiplegic subjects. This was considered to be caused by differences of foot movements during walking between healthy subjects and paralyzed subjects. Therefore, this study aimed at evaluating estimation error of stride lengths under different calculation methods of rotation matrix that is needed to obtain foot orientation. Experimental results showed that the rotation matrix calculated from Euler angles could be effective for gaits of healthy subjects, but not for some of paralyzed subjects. The rotation matrix calculated from quaternion was shown to be effective for both healthy and paralyzed subjects. Mean absolute error of stride length estimation with the quaternion-based method was smaller than about 5% for healthy subjects and the non-paralyzed side of hemiplegic subjects and smaller than 6% for paralyzed side of the hemiplegic subjects. Average values of estimation error were less than −4% for 3 hemiplegic subjects. Stride length estimation method and correction method of integration error would be required to be evaluated with many motor disabled subjects.