Online tracking of the lower body joint angles using IMUs for gait rehabilitation

Vladimir Joukov, Michelle Karg, Dana Kulic
2014 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
An important field in physiotherapy is the rehabilitation of gait. A continuous assessment and progress tracking of a patient's ability to walk is of clinical interest. Unfortunately the tools available to the therapists are very time-consuming and subjective. Non-intrusive, small, wearable, wireless sensors can be worn by the patients and provide inertial measurements to estimate the pose of the lower body during walking. For this purpose, we propose two different kinematic models of the human
more » ... lower body. We use an Extended Kalman Filter to estimate the joint angles and show that a variety of sensors, such as accelerometers, gyroscopes, and motion capture markers, can be used and fused together to aid the joint angle estimate. The algorithm is validated on gait data collected from healthy participants. 978-1-4244-7929-0/14/$26.00 ©2014 IEEE
doi:10.1109/embc.2014.6944082 pmid:25570450 dblp:conf/embc/JoukovKK14 fatcat:whq5x2m5mfhqdg34r6m2pjhsr4