A Non-Restricted Measuring System for Human Step Length Estimation

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	A Non-Restricted Measuring System for Human Step Length Estimation
	Tan XW(谈晓伟)2; Zhang B(张弼)2; Zhao XG(赵新刚)2
	2019
会议日期	November 22-24, 2019
会议地点	Hangzhou, China
关键词	inertial measurement sensor step length estimation zero-velocity update drift analysis
页码	1709-1714
英文摘要	In this paper, a non-restricted human step length measuring system has been derived by deploying the wearable inertial measurement sensor on subjects' foot. The measuring errors caused by the unwanted data noise, sensor drift as well as uncompensated gravity are discussed in detail. Based on the error model analysis, an efficient MARG orientation estimation method and the LRT zero-velocity update strategy have been utilized to mitigate this error induced effect. Subsequently, the procedure of estimating the step length of human ambulation is described, and the experimental assessment with subjects has also been conducted for verifying the robustness and the practicability of the proposed method. The experiment result has been statistically analyzed and shows the promising future to patients' gait clinical evaluation, human-oriented robot control as well as self-contained human movement tracking.
产权排序	1
会议录	Proceedings - 2019 Chinese Automation Congress, CAC 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-4094-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26410]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Tan XW(谈晓伟)
作者单位	1.Institutes of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences 3.University of Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Tan XW,Zhang B,Zhao XG. A Non-Restricted Measuring System for Human Step Length Estimation[C]. 见:. Hangzhou, China. November 22-24, 2019.