JOURNAL BROWSE
Search
Advanced SearchSearch Tips
Estimation of Tibia Angle through Time-Varying Complementary Filtering and Gait Phase Detection
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Estimation of Tibia Angle through Time-Varying Complementary Filtering and Gait Phase Detection
Song, Seok-ki; Woo, Hanseung; Kong, Kyoungchul;
 
 Abstract
Recent studies on ankle-foot prostheses used for transtibial amputees have focused on the adaptation of the ankle angle of the prosthesis according to ground conditions. For adaptation to various ground conditions (e.g., incline, decline, and step conditions), ankle-foot prostheses should first recognize the ground conditions as well as the current human motion pattern. For this purpose, the ground reaction forces and orientation angle of the tibia provide fundamental information. The measurement of the orientation angle, however, creates a challenge in practice. Although various sensors, such as accelerometers and gyroscopes, can be utilized to measure the orientation angles of the prosthesis, none of these sensors can be solely used due to their intrinsic drawbacks. In this paper, a time-varying complementary filtering (TVCF) method is proposed to incorporate the measurements from an accelerometer and a gyroscope to obtain a precise orientation angle. The cut-off frequency of TVCF is adaptively determined according to the human gait phase detected by a fuzzy logic algorithm. The performance of the proposed method is verified through experiments.
 Keywords
angle estimation;time-varying complementary filter;ankle-foot prostheses;
 Language
Korean
 Cited by
 References
1.
Ossur. [Online]. Available: http://www.ossur.com/

2.
Endolite Feet Products. [Online]. Available: http://www.endolite.com

3.
S. Au, M. Berniker, and H. Herr, "Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits," Neural Networks, vol. 21, no. 4, pp. 654-666, May 2008. crossref(new window)

4.
R. Bellman, A. Holgate, and T. Sugar, "SPARKy 3: Design of an active robotic ankle prosthesis with two actuated degrees of freedom using regenerative kinetics," Proc. of IEEE/RAS-EMBS Int. Conf. Biomed. Robot. Biomechatron., pp. 511-516, 2008.

5.
J. A. Blaya and H. Herr, "Adaptive control of a variable- impedance ankle-foot orthosis to assist drop-foot gait," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 12, no. 1, pp. 24-31, Mar. 2004. crossref(new window)

6.
S. Au, P. Bonato, and H. Herr, "An EMG-position controlled system for an active ankle-foot prosthesis: an initial experimental study," Proc. of the IEEE International Conf erence on Rehabilitation Robotics, pp. 375-379, 2005.

7.
F. Sup, A. Bohara, and M. Goldfarb, "Design and control of a powered transfemoral prosthesis," Int. J. Robotics Res., vol. 27, no. 2, pp. 263-273, 2008. crossref(new window)

8.
Y.-G. Kim and G.-S. Kim, "Design of six-axis force/moment sensor for ankle-rehabilitation robot," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 4, pp. 357-363, Apr. 2013. crossref(new window)

9.
K. Kong and M. Tomizuka, "A gait monitoring system based on air pressure sensors embedded in a shoe" IEEE/ASME Trans. Mechatronics, vol. 14, no. 3, pp. 358-370, Jun. 2009. crossref(new window)

10.
I. P. I. Pappas, M. R. Popovic, T. Keller, V. Dietz, and M. Morari, "A reliable gait phase detection system," IEEE Trans. Rehab. Eng., vol. 9, no. 2, pp. 113-125, Jun. 2001.

11.
S. Bamberg, A. Y. Benbasat, D. M. Scarborough, D. E. Krebs, and J. A. Paradiso, "Gait analysis using a shoe-integrated wireless sensor system," IEEE Trans. Inf. Technol. Biomed., vol. 12, pp. 413-423, 2008. crossref(new window)

12.
I. P. I. Pappas, M. R. Popovic, T. Keller, V. Dietz, and M. Morari, "Areliable gait phase detection system," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 9, no. 2, pp. 113-125, Jun. 2001. crossref(new window)

13.
G. Welch and G. Bishop, An introduction to the kalman filter. Technical report, UNC-CH Computer Science Technical Report 95041, 1995.

14.
H. J. Luinge and P. H. Veltink, "Measuring orientation of human body segments using miniature gyroscopes and accelerometers," Med Biol Eng Comput, vol. 43, no. 2, pp. 273-282, 2005. crossref(new window)

15.
Y.-K. Kim, J.-H. Park, H.-K. Kwak, S.-H. Park, C. W. Lee, and J.-M. Lee, "Performance improvement of a pedestrian dead reckoning system using a low cost IMU," Journal of Institute of Control, Robotics and Systems (in Korean), vol. 19, no. 6, pp. 569-575, Jun. 2013. crossref(new window)

16.
J. Perry, Gait Analysis. Thorofare, NJ: SLACK, Inc., 1992.

17.
K. Kong and M. Tomizuka, "A gait monitoring system based on air pressure sensors embedded in a shoe," IEEE/ASME Trans. Mechatronics, vol. 14, no. 3, pp. 1083-4435, Jun. 2009.