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Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait*
2019
2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Ambulatory sensing of gait kinematics using inertial measurement units (IMUs) usually uses sensor fusion filters. These algorithms require measurement updates to reduce drift between segments. A full body IMU suit can use biomechanical relations between body segments to solve this. However, when minimising the sensor set, we lose a lot of this information. In this study, we explore the assumptions of zero moment point (ZMP) as a possible source of measurement updates for the sensor fusion
doi:10.1109/embc.2019.8857314
pmid:31946310
fatcat:gsyyksyms5cuhn2g2osgivb7xu