Abstract
The majority of human gait modeling is based on hip, foot or thigh acceleration. The regeneration accuracy of these modeling approaches is not very high. This paper presents a harmonic approach to modeling human gait during level walking based on gyroscopic signals for a single thigh-mounted Inertial Measurement Unit (IMU) and the flexion–extension derived from a single thigh-mounted IMU. The thigh angle can be modeled with five significant harmonics, with a regeneration accuracy of over 0.999 correlation and less than 0.5° RMSE per stride cycle. Comparable regeneration accuracies can be achieved with nine significant harmonics for the gyro signal. The fundamental frequency of the harmonic model can be estimated using the stride time, with an error level of 0.0479% (±0.0029%). Six commonly observed stride patterns, and harmonic models of thigh angle and gyro signal for those stride patterns, are presented in this paper. These harmonic models can be used to predict or classify the strides of walking trials, and the results are presented herein. Harmonic models may also be used for activity recognition. It has shown that human gait in level walking can be modeled with a harmonic model of thigh angle or gyro signal, using a single thigh-mounted IMU, to higher accuracies than existing techniques.
Highlights
Gait recognition is often used in infrastructure-independent navigation systems, such as inertial navigation systems
Many studies exist in the literature on gait modeling, most of them present the movement pattern of a given body section for a selected group of people [7–9], which is of interest in clinical studies
This paper presents harmonic models for thigh flexion and extension during level walking, derived from empirical data collected from a single thigh-mounted Inertial Measurement Unit (IMU) and the gyroscopic signal of a thigh-mounted IMU
Summary
Gait recognition is often used in infrastructure-independent navigation systems, such as inertial navigation systems. Gait analysis is performed in these systems based on trunk movement [1,2], foot movement [3,4] or thigh movement [5,6]. Some of these techniques use acceleration, whereas the others use the rotation or the orientation of the particular body section. The majority of existing studies that use inertial sensors model human gait based on the acceleration of a given section of the body. Some others have modeled the movements of body sections based on purely theoretical models, such as mechanical models [10,11] Detailed analyses of these works are excluded in this paper, because the scope of this work is limited to deriving a model of human gait during level walking based on empirical observations
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