Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU
| العنوان: | Real Time Estimation of the Pose of a Lower Limb Prosthesis from a Single Shank Mounted IMU |
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| المؤلفون: | Hélène Pillet, Clément Duraffourg, Boris Dauriac, Xavier Bonnet |
| المساهمون: | Administrateur Ensam, Compte De Service, Institut de Biomecanique Humaine Georges Charpak, Université Paris 13 (UP13)-Arts et Métiers ParisTech, The corresponding author Clément Dura ourg was funded by a CIFRE grant from the Proteor®company, subsidized by the French National Association for Research and Technology (ANRT, CIFRE grant2018/0138). The other authors received no financial support for the research, authorship, and/or publication ofthis article. |
| المصدر: | Sensors Volume 19 Issue 13 Sensors, MDPI, 2019, 19 (13), pp.2865 Sensors (Basel, Switzerland) Sensors, Vol 19, Iss 13, p 2865 (2019) HAL |
| بيانات النشر: | Multidisciplinary Digital Publishing Institute, 2019. |
| سنة النشر: | 2019 |
| مصطلحات موضوعية: | strapdown integration, Computer science, medicine.medical_treatment, 02 engineering and technology, Kinematics, Walking, lcsh:Chemical technology, 01 natural sciences, Biochemistry, Prosthesis, Analytical Chemistry, Inverted pendulum, Gait (human), lower limb prosthesis, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], lcsh:TP1-1185, Computer vision, Instrumentation, Gait, [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Atomic and Molecular Physics, and Optics, Biomechanical Phenomena, Trajectory, Inertial Measurement Unit, Gait Analysis, [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing, Algorithms, 0206 medical engineering, Acceleration, Monitoring, Ambulatory, Artificial Limbs, Article, Computer Science::Robotics, Inertial measurement unit, lower limb prothese, medicine, Humans, Electrical and Electronic Engineering, Mécanique: Biomécanique [Sciences de l'ingénieur], [SPI.SIGNAL] Engineering Sciences [physics]/Signal and Image processing, real time, business.industry, Foot, inertial measurement unit, 010401 analytical chemistry, Kalman filter, 020601 biomedical engineering, attitude estimation, 0104 chemical sciences, trajectory reconstruction, Gait analysis, Artificial intelligence, business, Traitement du signal et de l'image [Sciences de l'ingénieur] |
| الوصف: | The command of a microprocessor-controlled lower limb prosthesis classically relies on the gait mode recognition. Real time computation of the pose of the prosthesis (i.e., attitude and trajectory) is useful for the correct identification of these modes. In this paper, we present and evaluate an algorithm for the computation of the pose of a lower limb prosthesis, under the constraints of real time applications and limited computing resources. This algorithm uses a nonlinear complementary filter with a variable gain to estimate the attitude of the shank. The trajectory is then computed from the double integration of the accelerometer data corrected from the kinematics of a model of inverted pendulum rolling on a curved arc foot. The results of the proposed algorithm are evaluated against the optoelectronic measurements of walking trials of three people with transfemoral amputation. The root mean square error (RMSE) of the estimated attitude is around 3° close to the Kalman-based algorithm results reported in similar conditions. The real time correction of the integration of the inertial measurement unit (IMU) acceleration decreases the trajectory error by a factor of 2.5 compared to its direct integration which will result in an improvement of the gait mode recognition. |
| وصف الملف: | application/pdf |
| اللغة: | English |
| تدمد: | 1424-8220 |
| DOI: | 10.3390/s19132865 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fff02afb502af03814861f8894cdda0aTest |
| حقوق: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....fff02afb502af03814861f8894cdda0a |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 14248220 |
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| DOI: | 10.3390/s19132865 |