Abstract
This chapter presents a novel sensory fusion algorithm for assessing the orientation of human body segments in long-term human walking based on signals from wearable sensors. The basic idea is to constantly fuse the measured segment’s angular velocity and linear acceleration via known kinematic relations between segments. The wearable sensory system incorporates seven inertial and magnetic measurement units and two instrumented shoe insoles. The proposed system was experimentally validated in a long-term walking on a polygon simulating different everyday activities. Results show accurate joint angle measurements (error median below \(5^\circ \)) with no observed drift over time.
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Acknowledgments
This study was supported by the Slovenian Research Agency (ARRS) under grant 1000–11–310147 and research programme Motion analysis and synthesis in man and machine (P2–0228), and partially by the EU project CYBERLEGs FP7–ICT–2011–7–287894.
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Šlajpah, S., Kamnik, R., Munih, M. (2014). Human Motion Kinematics Assessment Using Wearable Sensors. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_19
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DOI: https://doi.org/10.1007/978-3-319-06698-1_19
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