An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices

This work involved human subjects or animals in its research. Approval of all ethical and experimental procedures and protocols was granted by the Local Ethics Committee (CSIC's Ethics Committee) under Approval No. 034/2020, and performed in line with the Declaration of Helsinki.

Detalhes bibliográficos
Autores: Lora-Millán, Julio S., Hidalgo, Andrés F., Rocón, Eduardo
Formato: artículo
Estado:Versión publicada
Fecha de publicación:2021
País:España
Recursos:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/254265
Acesso em linha:http://hdl.handle.net/10261/254265
Access Level:acceso abierto
Palavra-chave:Inertial sensor
Extended Kalman filter
Lower-limb kinematics
Robotic exoskeleton sensors
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spelling An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic DevicesLora-Millán, Julio S.Hidalgo, Andrés F.Rocón, EduardoInertial sensorExtended Kalman filterLower-limb kinematicsRobotic exoskeleton sensorsThis work involved human subjects or animals in its research. Approval of all ethical and experimental procedures and protocols was granted by the Local Ethics Committee (CSIC's Ethics Committee) under Approval No. 034/2020, and performed in line with the Declaration of Helsinki.Inertial sensors have gained relevance as wearable sensors to acquire the kinematics of human limbs through fusion sensor algorithms and biomechanical models. However, there are some limitations to the use of Inertial Measurement Units in the control of wearable robotic devices: 1) Some approaches use magnetometer readings to estimate the orientation of the sensor, and, as a result, they are prone to errors due to electromagnetic interferences; 2) Biomechanical model-based approaches require complex and timeconsuming calibration procedures. In order to address these issues, this paper proposes an Extended Kalman Filter to estimate sagittal lower limb kinematics during gait, based on gyroscopes and accelerometers and without requiring any calibration or sensor alignment process. As magnetometer measurements are not involved, this method is not affected by electromagnetic disturbances. Our approach calculates the knee rotation axis in real-time, and it estimates hip and ankle sagittal axes considering that the movements in that plane occur around parallel axes. We carried out an experimental validation with eight healthy subjects walking on a treadmill at different velocities. We obtained waveform RMS errors about 3.8 , 3.6 , and 4.8 for hip, knee, and ankle in the sagittal plane. We also assessed the performance of this method as a tool for controlling lower-limb robotic exoskeletons by detecting gait events or estimating the phase and frequency of the gait in real-time through an Adaptive Frequency Oscillator. The average RMS delay in the detection of gait events was lower than 60 ms, and the RMSE in the estimation of the gait phase was about 3% of the gait cycle.We conclude that the described method could be used as a controller for wearable robotic devices.This work was supported in part by the Spanish Ministry of Science and Innovation through the Project Discover2Walk under Grant PID2019-105110RB-C31, and in part by the Programas de Actividades ICD en la Comunidad de Madrid and Structural Funds of the EU (RoboCity) under Grant S2018/NMT-4331. The work of Julio S. Lora-Millan was supported by the Ministry of Universities of the Government of Spain through the Training Program for Academic Staff Fellowship under Grant FPU16/01313.Peer reviewedInstitute of Electrical and Electronics EngineersMinisterio de Ciencia e Innovación (España)Comunidad de MadridMinisterio de Universidades (España)Lora-Millán, Julio S. [0000-0001-5968-5786]Rocón, Eduardo [0000-0001-9618-2176]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202120212021info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/254265reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-105110RB-C31info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/FPU16S2018/NMT-4331/RoboCityhttps://doi.org/10.1109/ACCESS.2021.3122160Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2542652026-05-22T06:33:51Z
dc.title.none.fl_str_mv An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
title An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
spellingShingle An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
Lora-Millán, Julio S.
Inertial sensor
Extended Kalman filter
Lower-limb kinematics
Robotic exoskeleton sensors
title_short An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
title_full An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
title_fullStr An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
title_full_unstemmed An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
title_sort An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices
dc.creator.none.fl_str_mv Lora-Millán, Julio S.
Hidalgo, Andrés F.
Rocón, Eduardo
author Lora-Millán, Julio S.
author_facet Lora-Millán, Julio S.
Hidalgo, Andrés F.
Rocón, Eduardo
author_role author
author2 Hidalgo, Andrés F.
Rocón, Eduardo
author2_role author
author
dc.contributor.none.fl_str_mv Ministerio de Ciencia e Innovación (España)
Comunidad de Madrid
Ministerio de Universidades (España)
Lora-Millán, Julio S. [0000-0001-5968-5786]
Rocón, Eduardo [0000-0001-9618-2176]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Inertial sensor
Extended Kalman filter
Lower-limb kinematics
Robotic exoskeleton sensors
topic Inertial sensor
Extended Kalman filter
Lower-limb kinematics
Robotic exoskeleton sensors
description This work involved human subjects or animals in its research. Approval of all ethical and experimental procedures and protocols was granted by the Local Ethics Committee (CSIC's Ethics Committee) under Approval No. 034/2020, and performed in line with the Declaration of Helsinki.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/254265
url http://hdl.handle.net/10261/254265
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-105110RB-C31
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/FPU16
S2018/NMT-4331/RoboCity
https://doi.org/10.1109/ACCESS.2021.3122160
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812455

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