Non-restricted Measurement of Three-Dimensional Walk Trajectory by the Integration of Tiptoe Acceleration

Abstract

Non-restricted estimate of three-dimensional (3D) walk trajectory during indoor locomotion is discussed. The walk trajectory is derived by the integration of the 3D acceleration of subject's foot. A sensor system is composed of an 3D accelerometer, three gyroscope, and one geomagnetic sensor and is attached on the tiptoe. Integral errors of the acceleration and the angular velocity are modified to keep the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. Six subjects performed walk experiments including level walk, ascending, and descending in an office building to verify the proposed method. The experimental results show that the estimation error of 3D location to the actual walk distance is less than 10 [%] and the application of the proposed method improves the precise measurement of 3D walk trajectory.

Suppression of performance degradation in traveling direction estimation by using IMU and PCA for PDR

“…In this paper, we focus on estimation methods of the traveling direction for pedestrian movement. In [2], a walking route has been estimated by using the integration of the accelerometer placed on toe. A PDR system by using gyroscope sensor and accelerometer has been developed in [3].…”

Forearm Trajectory Measurement during Pitching Motion using an Elbow-mounted Sensor

“…In this section, trajectory estimation and reduction algorithm of integration error, which have been applied to trajectory estimation of the foot during gait (10), (11) and of the forearm during slow pitching (12), (13) , is introduced to facilitate comprehension by the reader.…”

“…To solve these problems, the authors proposed an algorithm to reduce integration error caused by the accelerometer and gyroscope. Moreover, we estimated the 3D trajectory of gait including level walking, ascending, and descending (10), (11) . The algorithm is conducted so that the velocity of the sensor system is assumed as zero and the posture of the sensor system can be derived from acceleration of gravity at the beginning and end of the behavior.…”