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A Non-Restricted Measuring System for Human Step Length Estimation
Tan XW(谈晓伟)1; Zhang B(张弼)1; Zhao XG(赵新刚)1
Department机器人学研究室
Conference Name2019 Chinese Automation Congress, CAC 2019
Conference DateNovember 22-24, 2019
Conference PlaceHangzhou, China
Source PublicationProceedings - 2019 Chinese Automation Congress, CAC 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages1709-1714
Indexed ByEI
EI Accession number20201008253428
Contribution Rank1
ISBN978-1-7281-4094-0
Keywordinertial measurement sensor step length estimation zero-velocity update drift analysis
AbstractIn this paper, a non-restricted human step length measuring system has been derived by deploying the wearable inertial measurement sensor on subjects' foot. The measuring errors caused by the unwanted data noise, sensor drift as well as uncompensated gravity are discussed in detail. Based on the error model analysis, an efficient MARG orientation estimation method and the LRT zero-velocity update strategy have been utilized to mitigate this error induced effect. Subsequently, the procedure of estimating the step length of human ambulation is described, and the experimental assessment with subjects has also been conducted for verifying the robustness and the practicability of the proposed method. The experiment result has been statistically analyzed and shows the promising future to patients' gait clinical evaluation, human-oriented robot control as well as self-contained human movement tracking.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26410
Collection机器人学研究室
Corresponding AuthorTan XW(谈晓伟)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
2.Institutes of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences
3.University of Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Tan XW,Zhang B,Zhao XG. A Non-Restricted Measuring System for Human Step Length Estimation[C]. New York:IEEE,2019:1709-1714.
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