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 filters. ZMP is otherwise utilised for humanoid gait in robots. In this study, first, the relation between the ZMP and centre of pressure (CoP) is studied using a GRAIL system, consisting of opto-kinetic measurements. We find that the mean distance over the gait cycle between ZMP and CoP is 10.5±1.2% of the foot length. Following this, we show how these results could be used to improve measurements in a minimal IMU based sensing setup.
|Number of pages||5|
|Journal||Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS|
|Publication status||Published - Jul 2019|
|Event||41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019 - Berlin, Germany|
Duration: 23 Jul 2019 → 27 Jul 2019
Bibliographical noteFunding Information:
This work is part of the Perspectief programme NeuroCIMT with project number 14905 which is (partly) financed by the Netherlands Organisation for Scientific Research (NWO)
© 2019 IEEE.