2011
DOI: 10.1587/transinf.e94.d.1716
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Kalman-Filtering-Based Joint Angle Measurement with Wireless Wearable Sensor System for Simplified Gait Analysis

Abstract: SUMMARYThe aim of this study is to realize a simplified gait analysis system using wearable sensors. In this paper, a joint angle measurement method using Kalman filter to correct gyroscope signals from accelerometer signals was examined in measurement of hip, knee and ankle joint angles with a wireless wearable sensor system, in which the sensors were attached on the body without exact positioning. The lower limb joint angles of three healthy subjects were measured during gait with the developed sensor system… Show more

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Cited by 25 publications
(17 citation statements)
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“…Accelerometer outputs were filtered with low-pass filter with cut off frequency of 20Hz. From the results of preliminary experiments, the parameter value of the Kalman filter under the static and dynamic conditions were determined to 5 10 , respectively. For evaluating the accuracy in angle measurement of the sensors, root mean squared error (RMSE) and correlation coefficient between measured angles and reference values were calculated.…”
Section: Experimental Methodsmentioning
confidence: 99%
See 1 more Smart Citation
“…Accelerometer outputs were filtered with low-pass filter with cut off frequency of 20Hz. From the results of preliminary experiments, the parameter value of the Kalman filter under the static and dynamic conditions were determined to 5 10 , respectively. For evaluating the accuracy in angle measurement of the sensors, root mean squared error (RMSE) and correlation coefficient between measured angles and reference values were calculated.…”
Section: Experimental Methodsmentioning
confidence: 99%
“…In our previous study, a method of measuring lower limb joint angles using commercially available wireless inertial sensors was developed to realize simplified wearable gait evaluation systems for rehabilitation support [10]. The inertial sensors used in the test, however, had a problem in Manuscript received December 7, 2012; revised February 5, 2013.…”
Section: Introductionmentioning
confidence: 99%
“…Inclination angles of the segments were calculated using Kalman filter from the data obtained by the wireless inertial sensors [9]. Joint angles were calculated from the inclination angles of the segments.…”
Section: A Measurement and Control Systemmentioning
confidence: 99%
“…In our previous studies, a method of measuring lower limb joint angles using wireless inertial sensors was developed to realize simplified wearable gait evaluation system for rehabilitation support, and the method was tested in measurement of gait of healthy subjects [11][12]. In the angle measurement method of our previous studies, Kalman filter was applied using the angle calculated from acceleration signals.…”
Section: Introductionmentioning
confidence: 99%
“…To reduce the influences of those accelerations, outputs of accelerometer were filtered with Butterworth low-pass filter with cut off frequency of 0.5Hz in our previous studies [11][12]. However, the low cut off frequency has a possibility of increasing measurement error since low cut off frequency causes delay in the low-pass filtering due to its large time constant.…”
Section: Introductionmentioning
confidence: 99%