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          Institute: MPI für Dynamik komplexer technischer Systeme     Collection: Systems and Control Theory     Display Documents

ID: 244906.0, MPI für Dynamik komplexer technischer Systeme / Systems and Control Theory
Gait phases detection and step length estimation of gait by means of inertial sensors
Authors:Negaard, N.-O.; Kauert, R.; Andres, S.; Schauer, T.; Raisch, J.
Publisher:International Federation for Medical and Biological Engineering
Place of Publication:Prague, Czech Republic
Date of Publication (YYYY-MM-DD):2005-11
Title of Proceedings:3rd European Medical & Biological Engineering Conference (EMBEC 2005)
Sequence Number:1610
Title of Series:IFMBE Proceedings
Volume (in Series):11
Physical Description:CD-ROM
Name of Conference/Meeting:3rd European Medical & Biological Engineering Conference (EMBEC 2005)
Place of Conference/Meeting:Prague, Czech Republic
(Start) Date of Conference/Meeting
End Date of Conference/Meeting 
Review Status:Peer-review
Audience:Experts Only
Intended Educational Use:No
Abstract / Description:The application of inertial sensors in the FES-aided gait rehabilitation is investigated. Instead of using foot switches, inertial sensors can be applied to detect gait phases. It is shown that it is possible to reliably detect four distinct gait phases by use of inertial sensors. Additionally, foot orientation is estimated by integration of angular velocity. To avoid drift in the orientation estimate a Kalman filter was implemented taking the measured acceleration in the swing phase into account. The foot position during the swing phase of gait can be estimated on the basis of measured acceleration and already calculated orientation. The accuracy of this calculation is increased by introducing start and stop constraints on the velocity. To validate the algorithms described in this paper, two gait trials with stroke patients were performed on a treadmill. In these trials an ultrasonic measurement unit was used as a reference system. The results show that the step length can be estimated quite accurately. The standard deviation of the errors of the step length estimation compared to the reference measurement were lying between 3 % and 5 %. The gait phases detection and foot position estimate are expected to be usable in FES-aided gait rehabilitation for stroke patients. The reconstructed position and orientation of the foot can be employed as feedback signals for automatic tuning of muscle stimulation in such systems.
External Publication Status:published
Document Type:Conference-Paper
Communicated by:Jörg Raisch
Affiliations:MPI für Dynamik komplexer technischer Systeme/Systems and Control Theory
External Affiliations:HASOMED GmbH, Paul-Ecke-Straße 1, 39114 Magdeburg, Germany;
Fraunhofer Institute for Factory Operation and Automation IFF,
Sandtorstr. 22, 39106 Magdeburg, Germany
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