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Drift Removal for Improving the Accuracy of Gait Parameters Using Wearable Sensor Systems

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Title: Drift Removal for Improving the Accuracy of Gait Parameters Using Wearable Sensor Systems
Authors: Takeda, Ryo Browse this author
Lisco, Giulia Browse this author
Fujisawa, Tadashi Browse this author
Gastaldi, Laura Browse this author
Tohyama, Harukazu Browse this author
Tadano, Shigeru Browse this author
Keywords: gait analysis
wearable sensors
drift effect
Lower Limb Kinematics
spatio-temporal gait parameter
Issue Date: Dec-2014
Publisher: MDPI
Journal Title: Sensors
Volume: 14
Issue: 12
Start Page: 23230
End Page: 23247
Publisher DOI: 10.3390/s141223230
Abstract: Accumulated signal noise will cause the integrated values to drift from the true value when measuring orientation angles of wearable sensors. This work proposes a novel method to reduce the effect of this drift to accurately measure human gait using wearable sensors. Firstly, an infinite impulse response (IIR) digital 4th order Butterworth filter was implemented to remove the noise from the raw gyro sensor data. Secondly, the mode value of the static state gyro sensor data was subtracted from the measured data to remove offset values. Thirdly, a robust double derivative and integration method was introduced to remove any remaining drift error from the data. Lastly, sensor attachment errors were minimized by establishing the gravitational acceleration vector from the acceleration data at standing upright and sitting posture. These improvements proposed allowed for removing the drift effect, and showed an average of 2.1 degrees, 33.3 degrees, 15.6 degrees difference for the hip knee and ankle joint flexion/extension angle, when compared to without implementation. Kinematic and spatio-temporal gait parameters were also calculated from the heel-contact and toe-off timing of the foot. The data provided in this work showed potential of using wearable sensors in clinical evaluation of patients with gait-related diseases.
Type: article
Appears in Collections:工学院・工学研究院 (Graduate School of Engineering / Faculty of Engineering) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: 武田 量

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