Limits...
Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors.

Duong PD, Suh YS - Sensors (Basel) (2015)

Bottom Line: The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm.A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose.Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea. duyduongd2@gmail.com.

ABSTRACT
There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation.

No MeSH data available.


Inertial and distance sensors on a shoe.
© Copyright Policy
Related In: Results  -  Collection

License
getmorefigures.php?uid=PMC4541859&req=5

f1-sensors-15-15888: Inertial and distance sensors on a shoe.

Mentions: An inertial measurement unit (three-axis accelerometers and three-axis gyroscopes, Xsens MTi) is attached on a shoe as in Figure 1. The sampling frequency of the inertial sensors is 100 Hz. Two distance sensors (VL6180 [15]) are also attached on a shoe, where symbols A and B are used to distinguish the two sensors. The distance sensor VL6180 measures the distance by measuring the time-of-flight of infrared light, and the measurement range is up to 20 cm. This sensor is most often used as a proximity sensor in smartphones. The sampling frequency of the distance sensors is 33.33 Hz.


Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors.

Duong PD, Suh YS - Sensors (Basel) (2015)

Inertial and distance sensors on a shoe.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541859&req=5

f1-sensors-15-15888: Inertial and distance sensors on a shoe.
Mentions: An inertial measurement unit (three-axis accelerometers and three-axis gyroscopes, Xsens MTi) is attached on a shoe as in Figure 1. The sampling frequency of the inertial sensors is 100 Hz. Two distance sensors (VL6180 [15]) are also attached on a shoe, where symbols A and B are used to distinguish the two sensors. The distance sensor VL6180 measures the distance by measuring the time-of-flight of infrared light, and the measurement range is up to 20 cm. This sensor is most often used as a proximity sensor in smartphones. The sampling frequency of the distance sensors is 33.33 Hz.

Bottom Line: The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm.A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose.Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea. duyduongd2@gmail.com.

ABSTRACT
There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation.

No MeSH data available.