Kinematic estimation of the lower limb joints using the extended Kalman filter
DOI:
https://doi.org/10.17981/ingecuc.16.1.2020.19Keywords:
extended Kalman filter, human gait, inertial measurement units, parametric estimation, kinematic parametersAbstract
Introduction: This paper describes the use of the extended Kalman filter using inertial sensors (IMUS) in order to identify the kinematic parameters of the human gait at a low cost.
Objective: To asses an efficient method at a low cost to identify the kinematic parameters of the human gait.
Method: A mathematical model of the lower limb of the human body was obtained, including four inertial measurement units (IMU). Real data were measured and introduced to the model with the purpose to identify the kinematic parameters. A VICON optical system was also used to compare the results obtained from the extended Kalman filter.
Results: The kinematic parameters identified with the extended Kalman filter method were compared to those obtained with an expensive optical VICON system, producing similar results.
Conclusions: The use of the extended Kalman filter allows identifying easily the kinematic parameters of the human gait, to be used later in the evaluation of treatment protocols.
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