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Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors
Joint Authors
Watanabe, Takashi
Teruyama, Yuta
Source
Computational and Mathematical Methods in Medicine
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-27
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
The wearable sensor system developed by our group, which measured lower limb angles using Kalman-filtering-based method, was suggested to be useful in evaluation of gait function for rehabilitation support.
However, it was expected to reduce variations of measurement errors.
In this paper, a variable-Kalman-gain method based on angle error that was calculated from acceleration signals was proposed to improve measurement accuracy.
The proposed method was tested comparing to fixed-gain Kalman filter and a variable-Kalman-gain method that was based on acceleration magnitude used in previous studies.
First, in angle measurement in treadmill walking, the proposed method measured lower limb angles with the highest measurement accuracy and improved significantly foot inclination angle measurement, while it improved slightly shank and thigh inclination angles.
The variable-gain method based on acceleration magnitude was not effective for our Kalman filter system.
Then, in angle measurement of a rigid body model, it was shown that the proposed method had measurement accuracy similar to or higher than results seen in other studies that used markers of camera-based motion measurement system fixing on a rigid plate together with a sensor or on the sensor directly.
The proposed method was found to be effective in angle measurement with inertial sensors.
American Psychological Association (APA)
Teruyama, Yuta& Watanabe, Takashi. 2013. Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors. Computational and Mathematical Methods in Medicine،Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-468975
Modern Language Association (MLA)
Teruyama, Yuta& Watanabe, Takashi. Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors. Computational and Mathematical Methods in Medicine No. 2013 (2013), pp.1-12.
https://search.emarefa.net/detail/BIM-468975
American Medical Association (AMA)
Teruyama, Yuta& Watanabe, Takashi. Effectiveness of Variable-Gain Kalman Filter Based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors. Computational and Mathematical Methods in Medicine. 2013. Vol. 2013, no. 2013, pp.1-12.
https://search.emarefa.net/detail/BIM-468975
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-468975