Improved method of step length estimation based on inverted pendulum model

Zhao, Qi; Zhang, Boxue; Wang, Jingjing; Feng, Wenquan; Jia, Wenyan; Sun, Mingui

doi:10.1177/1550147717702914

Cited by 20 publications

(19 citation statements)

References 14 publications

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“…During gait, the CoM undergoes changes in height, which is used to estimate the step length L^Step [19]:L^Step(i)=22Lh−h2 where L is the pendulum length (distance from the lower back sensor to the ground) and h is the change in height obtained by double integration of aV. A constant offset is added to improve this estimate and compute a final step length LStep [20]:K=(STbold-italicS)−1ST(LStep*−bold-italicL^Step) LStep(i)=22Lh−h2+KS, where S is the participant’s shoe size (vector of shoe sizes for all participants in Equation (4a)), K…”

Section: Methodsmentioning

confidence: 99%

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Augmenting Clinical Outcome Measures of Gait and Balance with a Single Inertial Sensor in Age-Ranged Healthy Adults

O’Brien

Hidalgo-Araya

Mummidisetty

et al. 2019

Sensors

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Gait and balance impairments are linked with reduced mobility and increased risk of falling. Wearable sensing technologies, such as inertial measurement units (IMUs), may augment clinical assessments by providing continuous, high-resolution data. This study tested and validated the utility of a single IMU to quantify gait and balance features during routine clinical outcome tests, and evaluated changes in sensor-derived measurements with age, sex, height, and weight. Age-ranged, healthy individuals (N = 49, 20–70 years) wore a lower back IMU during the 10 m walk test (10MWT), Timed Up and Go (TUG), and Berg Balance Scale (BBS). Spatiotemporal gait parameters computed from the sensor data were validated against gold standard measures, demonstrating excellent agreement for stance time, step time, gait velocity, and step count (intraclass correlation (ICC) > 0.90). There was good agreement for swing time (ICC = 0.78) and moderate agreement for step length (ICC = 0.68). A total of 184 features were calculated from the acceleration and angular velocity signals across these tests, 36 of which had significant correlations with age. This approach was also demonstrated for an individual with stroke, providing higher resolution information about balance, gait, and mobility than the clinical test scores alone. Leveraging mobility data from wireless, wearable sensors can help clinicians and patients more objectively pinpoint impairments, track progression, and set personalized goals during and after rehabilitation.

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Section: Methodsmentioning

confidence: 99%

“…The integration drift of aV was removed by Empirical Mode Decomposition (EMD) [20,21]. First, the vertical velocity vV is obtained by integrating aV and then decomposed into Intrinsic Mode Functions (IMFs).…”

Section: Methodsmentioning

confidence: 99%

Augmenting Clinical Outcome Measures of Gait and Balance with a Single Inertial Sensor in Age-Ranged Healthy Adults

O’Brien

Hidalgo-Araya

Mummidisetty

et al. 2019

Sensors

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“…In this part, we present a fusion algorithm, which integrates accelerometer, gyroscope, magnetometer measurements by Kalman filter and complementary filter to improve pedestrian heading precision. The Formulas (5)- (8) show the heading computation method by accelerometer and magnetometer measurements, in this part, we design a Kalman filter model to estimate smart phone heading and gyroscope bias on the bias of gyroscope measurement and the heading Heading AccMag (processed by Formulas (5)-(8)) [29]. Following presents the detail information of Kalman filter model: Measurement equation:…”

Section: Improved Heading Algorithm Combining Accelerometer Gyroscopmentioning

confidence: 99%

“…The value of the step length is related to a pedestrian profile (such as weight, height, age, sex and style of walking) [7]. Zhao proposed an improved method of step length estimation based on an inverted pendulum model [8]. Ilkovičová et al proposed an approach that uses map matching to adjust the step length with different types of movement [7].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Urban Canyon Pedestrian Navigation Scheme Combined PDR, GNSS and Beacon Based on Smartphone

Luo

et al. 2019

Remote Sensing

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This study presents a comprehensive urban canyon pedestrian navigation scheme. This scheme combines smart phone internal MEMS sensors, GNSS and beacon observations together. Heading estimation is generally a key issue of the PDR algorithm. We design an orientation fusion algorithm to improve smart phone heading using MEMS measurements. Static and kinematic tests are performed, superiority of the improved heading algorithm is verified. We also present different heading processing solutions for comparison and analysis. Heading bias increases with time due to error accumulation and model inaccuracy. Thus, we develop a related heading calibration method based on beacons. This method can help correct smart phone headings continuously to decrease cumulative error. In addition to PDR, we also use GNSS and beacon measurements to integrate a fusion location. In the fusion procedure, we design related algorithms to adjust or limit the use of these different type observations to constrain large jumps in our Kalman filter model, thereby making the solution stable. Navigation experiments are performed in the streets of Mong Kok and Wanchai, which are typically the most crowded areas of Hong Kong, with narrow streets and many pedestrians, vehicles and tall buildings. The first experiment uses the strategy PDR + GNSS + beacon, in east–west orientation street, in which 10 m positioning error is improved from 30 % (smart phone internal GNSS) to 80 % and in south–north orientation street, in which 15 m positioning error is improved from 20 % (smart phone internal GNSS) to 80 % . The second experiment performs two long-distance tests without any beacons, in which the fusion scheme also has significant improvement, that is, 10 m positioning error is improved from 38 % to 60 % .

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“…Predicting vibrations caused by human activities on various floor systems has been concerned by researchers through a mix of experimental, [12][13][14][15] analytical, [16][17][18] and numerical techniques. [19][20][21][22][23] To the end, various vibration acceptability criteria have been developed by referring a good amount of related research work, such as Hivoss guideline, 24 American institute of steel construction (AISC) Design Guide #11, 25 ISO 10137, 26 GB 50010-2010, 27 and JGJ 3-2010.…”

Section: Introductionmentioning

confidence: 99%

Experimental and numerical studies on the vibration serviceability of fanshaped prestressed concrete floor

Cao

Jiang

2018

International Journal of Distributed Sensor Networks

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An extensive experimental and numerical research was undertaken to study the vibration serviceability of a long-span fanshaped prestressed concrete floor system to be used in the lounge of a major airport. Specifically heel-drop and jumping impact tests were conducted to obtain the natural frequencies and modal damping ratios of the floor system, followed by the discussion on the distribution of peak accelerations. Running tests and simulation were also performed to capture the acceleration responses. Moreover, the finite element method was used to evaluate the dynamic characteristics. The floor system is found to have a low fundamental frequency (' 6.00 Hz) and the corresponding modal damping ratio (average ' 2.20%). The comparison of the experimental results with the published American institute of steel construction (AISC) design guide indicates that the prestressed concrete floor system exhibits satisfactory vibration perceptibility overall. The study results also show that the intensity and the location of impact excitation have a significant influence on the rate of acceleration decay. A crest factor b rp is proposed based on the test results to calculate the maximum root mean square acceleration for running for convenience.

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Improved method of step length estimation based on inverted pendulum model

Cited by 20 publications

References 14 publications

Augmenting Clinical Outcome Measures of Gait and Balance with a Single Inertial Sensor in Age-Ranged Healthy Adults

Augmenting Clinical Outcome Measures of Gait and Balance with a Single Inertial Sensor in Age-Ranged Healthy Adults

Hybrid Urban Canyon Pedestrian Navigation Scheme Combined PDR, GNSS and Beacon Based on Smartphone

Experimental and numerical studies on the vibration serviceability of fanshaped prestressed concrete floor

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