Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait

Mohamed Irfan Mohamed Refai; Bert Jan F. Van Beijnum; Jaap H. Buurke; Mique Saes; Johannes B.J. Bussmann; Carel G. Meskers; Erwin Van Wegen; Gert Kwakkel; Peter H. Veltink

doi:10.1109/EMBC.2019.8857314

Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait

Mohamed Irfan Mohamed Refai, Bert Jan F. Van Beijnum, Jaap H. Buurke, Mique Saes, Johannes B.J. Bussmann, Carel G. Meskers, Erwin Van Wegen, Gert Kwakkel, Peter H. Veltink

Research output: Contribution to journal › Conference article › Academic › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	2077-2081
Number of pages	5
Journal	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
DOIs	https://doi.org/10.1109/EMBC.2019.8857314
Publication status	Published - Jul 2019
Externally published	Yes
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 note

Funding 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)

Publisher Copyright:
© 2019 IEEE.

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10.1109/EMBC.2019.8857314

Cite this

Refai, M. I. M., Van Beijnum, B. J. F., Buurke, J. H., Saes, M., Bussmann, J. B. J., Meskers, C. G., Wegen, E. V., Kwakkel, G., & Veltink, P. H. (2019). Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2077-2081. https://doi.org/10.1109/EMBC.2019.8857314

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abstract = "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.",

author = "Refai, {Mohamed Irfan Mohamed} and {Van Beijnum}, {Bert Jan F.} and Buurke, {Jaap H.} and Mique Saes and Bussmann, {Johannes B.J.} and Meskers, {Carel G.} and Wegen, {Erwin Van} and Gert Kwakkel and Veltink, {Peter H.}",

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doi = "10.1109/EMBC.2019.8857314",

language = "English",

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Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait. / Refai, Mohamed Irfan Mohamed; Van Beijnum, Bert Jan F.; Buurke, Jaap H. et al.
In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 07.2019, p. 2077-2081.

Research output: Contribution to journal › Conference article › Academic › peer-review

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AU - Saes, Mique

AU - Bussmann, Johannes B.J.

AU - Meskers, Carel G.

AU - Wegen, Erwin Van

AU - Kwakkel, Gert

AU - Veltink, Peter H.

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AB - 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.

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Portable Gait Lab: Zero Moment Point for Minimal Sensing of Gait

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