Abstract
The measurement method of lower limb angles, which were based on the integral of angular velocity with Kalman filter, was validated previously in measurement of angles in a plane with a rigid body model of double pendulum and shown to be practical in measurement of angles in the sagittal plane during gait of healthy subjects. In this paper, in order to realize practical measurements of 3 dimensional (3D) movements with inertial sensors, the previously developed integral-based angle calculation method with variable Kalman gain and a quaternion-based one with fixed gain were tested. First, the quaternion-based method showed higher measurement accuracies for angles in the sagittal and the frontal planes during 3D movements of a rigid body model of lower limb than that of the integral-based one. Second, the integral-based method was shown to be effective in measurement of angles in the sagittal plane of healthy subjects during treadmill walking compared to the quaternion-based one, which suggested effectiveness of the variable Kalman gain method. Third, the integral-based method was shown to cause inappropriate results in some cases of calculation of lower limb angles of hemiplegic subjects during gait, while some of such cases could be measured appropriately with the quaternion-based one. The results of this paper suggested that the quaternion-based method would be more effective with a variable Kalman-gain for measurement of 3D movements. The integral-based method was also suggested to be useful for measurement of angles in the sagittal plane of healthy subjects during gait.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Tong, K., Granat, M.H.: A practical gait analysis system using gyroscopes. Med. Eng. Phys. 21, 87–94 (1999)
Dejnabadi, H., Jolles, B.M., Aminian, K.: A new approach to accurate measurement of uniaxial joint angles based on a combination of accelerometers and gyroscopes. IEEE Trans. Biomed. Eng. 52, 1478–1484 (2005)
Findlow, A., Goulermas, J.Y., Nester, C., Howard, D., Kenney, L.P.: Predicting lower limb joint kinematics using wearable motion sensors. Gait Posture 28, 120–126 (2008)
Cooper, G., Sheret, I., McMillian, L., Siliverdis, K., Sha, N., Hodgins, D., Kenney, L., Howard, D.: Inertial sensor-based knee flexion/extension angle estimation. J. Biomech. 42, 2678–2685 (2009)
Sabatini, A.M.: Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing. IEEE Trans. Biomed. Eng. 53(7), 1346–1356 (2006)
Mazzà, C., Donati, M., McCamley, J., Picerno, P., Cappozzo, A.: An optimized Kalman filter for the estimate of trunk orientation from inertial sensors data during treadmill walking. Gait Posture 35(1), 138–142 (2012)
Saito, H., Watanabe, T.: Kalman-filtering-based joint angle measurement with wireless wearable sensor system for simplified gait analysis. IEICE Trans. Inf. Syst. E94-D, 1716–1720 (2011)
Watanabe, T., Saito, H., Koike, E., Nitta, K.: A preliminary test of measurement of joint angles and stride length with wireless inertial sensors for wearable gait evaluation system. Comput. Intel. Neurosci. 2011, Article ID: 975193 (2011). doi:10.1155/2011/975193
Watanabe, T., Saito, H.: Tests of wireless wearable sensor system in joint angle measurement of lower limbs. In: 33rd IEEE Engineering in Medicine and Biology Society, pp. 5469–5472 (2011)
Teruyama, Y., Watanabe, T.: Effectiveness of variable-gain Kalman filter based on angle error calculated from acceleration signals in lower limb angle measurement with inertial sensors. Comput. Math. Methods Med. 2013, Article ID 398042 (2013). http://dx.doi.org/10.1155/2013/398042
Chou, J.C.K.: Quaternion kinematic and dynamic differential equations. IEEE Trans. Robot. Automat. 8(1), 53–64 (1992)
Favre, J.: Quaternion-based fusion of gyroscopes and accelerometers to improve 3d angle measurement. Electron. Lett. 42(11), 612–614 (2006)
Watanabe, T., Endo, S., Murakami, K., Kumagai, Y., Kuge, N.: Movement change induced by voluntary effort with low stimulation intensity fes-assisted dorsiflexion: a case study with a hemiplegic subject. In: 6th International IEEE EMBS Conference on Neural Engineering, pp. 327–330 (2013)
Acknowledgements
This work was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under a Grant-in-Aid for challenging Exploratory Research.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Watanabe, T., Teruyama, Y., Ohashi, K. (2015). Comparison of Angle Measurements Between Integral-Based and Quaternion-Based Methods Using Inertial Sensors for Gait Evaluation. In: Plantier, G., Schultz, T., Fred, A., Gamboa, H. (eds) Biomedical Engineering Systems and Technologies. BIOSTEC 2014. Communications in Computer and Information Science, vol 511. Springer, Cham. https://doi.org/10.1007/978-3-319-26129-4_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-26129-4_18
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-26128-7
Online ISBN: 978-3-319-26129-4
eBook Packages: Computer ScienceComputer Science (R0)