University of Twente Student Theses
Estimating Lower-body Kinematics During Walking Using a Small Set of IMUs
Pol, E. van den (2025) Estimating Lower-body Kinematics During Walking Using a Small Set of IMUs.
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| Abstract: | Gait analysis is a valuable tool for researchers. It has been applied in different fields, such as robotics and healthcare. Using inertial motion capture (IMC) systems enables researchers to derive lower-body kinematics, such as orientation, acceleration, angular velocity and position of each segment. Commercial IMC systems generally use one sensor on each body segment. Yet, for monitoring daily living tasks, this is too extensive and expensive due to the number of sensors used. The use of fewer IMUs than one sensor per segment could result in a cheaper and more appropriate solution. This thesis aimed at estimating the lower-body kinematics based on the information provided by three IMUs. These IMUs were positioned on each foot and one on the back near the pelvis. Based on the acceleration and orientation information from the IMUs, a forward kinematics chain-based constrained Kalman filter was used to estimate lower-body kinematics during walking. Using walking tasks data from an online dataset, the mean joint position RMSE and segment orientation RMSE across all tasks and subjects were 6.2 ± 3.6 cm and 11.5 ± 5.9°, respectively, indicating a reasonable level of accuracy. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 42 biology, 50 technical science in general |
| Programme: | Biomedical Engineering MSc (66226) |
| Link to this item: | https://purl.utwente.nl/essays/106201 |
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