a wearable inertial sensor system for human motion analysis
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6th IEEE International Symposium on Computational Intelligence in Robotics and Automation. A wearable inertial sensor system for human motion analysis. Tao Liu Robotics and Dynamics Lab Kochi University of Technology 2005-6-29. Introduction. - PowerPoint PPT PresentationTRANSCRIPT
A wearable inertial sensor system
for human motion analysis
Tao Liu
Robotics and Dynamics Lab
Kochi University of Technology
2005-6-29
6th IEEE International Symposium on Computational Intelligence in Robotics and Automation
IntroductionIntroductionIntroductionIntroduction
Some application fields of human motion analysisSome application fields of human motion analysis
Human dynamic analysis
Functional electrical stimulation (FES)
Humanoid robot
Research BackgroundResearch Background
Some human motion analysis systems have been developed, but are complicated and expensive for product developments.
In this research, a six-D reaction force sensor had been finished, and the wearable motion analysis system is constructed for the dynamic analysis of human walking.
A more compact measurement system with intelligent computation methods will be the focused problem in this research.
IntroductionIntroductionIntroductionIntroduction
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
Hardware DescriptionHardware Description
Gyro: ENC-03J Accelerometer: ADXL202
A/D converter card with 14 bit resolution
Ayωy
Ax
ωxY: Gyro
X: Gyro
Two-axis Accelerometer70mm
100mm
Hardware DescriptionHardware Description Base board of inertial sensors
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
Hardware DescriptionHardware Description
Wearable motion measurement device with inertial sensors
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Gait phases of a normal walking
Physical sense of each gait phase
Introduce the Fuzzy inference system into the detection of gait phases
Post-process of the FIS outputs (Pointer digital filter design)
The optical motion analysis system (In next step to validate above inference)
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Toe-rotation Swing
Heel-rotationStance
Gait phases of a normal walking
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Physical sense of each gait phases
ωyx ωx
y
z
ωx: X-Rotational angular velocity
ωy: Y-Rotational angular velocity
Ax: X-Acceleration
Ay: Y-Acceleration
If ωx=0 AND ωy =0 AND Ax=0 AND Ay=0 Then ‘Stance Phase’;If ωy<0 AND Ax≠0 AND Ay≠0 Then ‘Swing Phase’;If ωy>0 AND Ax≠0 AND Ay≠0 Then If the case is before the ‘Swing Phase’ of the same walking cycle Then ‘Toe-rotation Phase’
Else ‘Heel-rotation Phase’.
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Introduction of Fuzzy Inference System (FIS)
Mamdani method is used in this FIS
In this FIS, four inputs and one output were designed
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Fuzzy Input De-fuzzy Output
Introduction of Fuzzy Inference System (FIS)
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Introduction of Fuzzy Inference System (FIS)
Rules Designed for the FIS
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
If ωx=0 AND ωy =0 AND Ax=0 AND Ay=0 Then ‘Stance Phase’;If ωy<0 AND Ax≠0 AND Ay≠0 Then ‘Swing Phase’;If ωy>0 AND Ax≠0 AND Ay≠0 Then If the case is before the ‘Swing Phase’ of the same walking cycle
Then ‘Toe-rotation Phase’ Else ‘Heel-rotation Phase’.
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Introduction of Fuzzy Inference System (FIS)
Results View
The FIS is developed by using MATLAB
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
Post-process of the FIS outputs (Pointer digital filter design)
Output of FIS Last filter result
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
The Gait Phase Analysis MethodsThe Gait Phase Analysis Methods
The optical motion analysis system
Knee marker
Heel marker
Toe marker
Methods and MaterialsMethods and MaterialsMethods and MaterialsMethods and Materials
Ankle marker
Hi-DcamHi-Dcam
High speed camera by NACHigh speed camera by NAC
Experiment StudyExperiment StudyExperiment StudyExperiment Study
Data sampling of two-axis Gyroscope and two-axis accelerometer
Gait phases analysis results in two walking tasks
Validating the analysis results using the optical motion analysis system
Data sampling of two-axis Gyroscope and two-axis accelerometer
Experiment StudyExperiment StudyExperiment StudyExperiment Study
Gait phases analysis results of an object
Experiment StudyExperiment StudyExperiment StudyExperiment Study
Validating the analysis results using the optical motion analysis system
Experiment StudyExperiment StudyExperiment StudyExperiment Study
Experimental Results Analysis and ConclusionExperimental Results Analysis and ConclusionExperimental Results Analysis and ConclusionExperimental Results Analysis and Conclusion
The wearable inertial sensors system can be used for foot-motion analysis;
A fuzzy inference system was used on the detection of gait phase.
A digital point filter was design for the results data processing .
The results of gait phases analysis can be used for next step dynamic analysis when a reaction force measurement system is integrated into this analysis system.
Thank YouThank You