Abstract
Calculation and programming algorithms of real-time estimation of three-dimensional walk trajectory are discussed. A body-mounted sensor which is composed of one 3D accelerometer, one 3D gyroscope and one 3D geomagnetic sensor is attached on tiptoe of right foot. The 3D trajectory is derived from double integration of acceleration and integration error of the acceleration is effectively cancelled by considering continuity of the velocity of the foot at the end of the swing phase. Data acquisition followed by trajectory calculation and real time expression of the walk trajectory is executed on real-time Linux operating system. Presentation of the walk trajectory during the swing phase uses gnuplot data plotting utility and is completed during the following stance phase. The experimental results of the level walk showed that the walk trajectory was displayed in real time and took 20 msec from the detection of the stance phase to the end of the trajectory calculation.
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