Abstract
A walking distance estimation algorithm for cane users is proposed using an inertial sensor unit attached to various positions on the cane. A standard inertial navigation algorithm using an indirect Kalman filter was applied to update the velocity and position of the cane during movement. For quadripod canes, a standard zero-velocity measurement-updating method is proposed. For standard canes, a velocity-updating method based on an inverted pendulum model is proposed. The proposed algorithms were verified by three walking experiments with two different types of canes and different positions of the sensor module.
Highlights
Mobility aids are devices designed to alleviate the impact of mobility limitations or improve independence and reduce the burden of care [1,2,3,4]
Are basically three approaches for walking distance estimation using sensors mounted on the foot, There are basically three approaches for walking distance estimation using sensors mounted on waist, or wrist
We have proposed a walking cane device consisting of an inertial sensor and a method for
Summary
Mobility aids are devices designed to alleviate the impact of mobility limitations or improve independence and reduce the burden of care [1,2,3,4] They are mainly simple mechanical devices—such as wheelchairs, canes, crutches, and walkers—which enable freedom of movement similar to that of unassisted walking or standing up from a chair [2]. These assistive devices are effective ways to lessen the impact of mobility limitation for many people, including older adults, people with chronic conditions, the disabled, the blind, and people with mobility impairments. An estimated 6.1 million community-dwelling adults use mobility devices, including canes, walkers, and crutches, and two-thirds of them are older than
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