Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Gait Estimation System for Leg Diagnosis and Rehabilitation using Gyroscopes

하지 진단 및 재활을 위한 각속도계 기반 측정시스템

  • 이민영 (홍익대학교 대학원 기계공학과) ;
  • 이수용 (홍익대학교 기계시스템디자인공학과)
  • Received : 2010.06.10
  • Accepted : 2010.07.20
  • Published : 2010.09.01
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Abstract

Gait analysis is essential for leg diagnosis and rehabilitation for the patients, the handicapped and the elderly. The use of 3D motion capture device for gait analysis is very common for gait analysis. However, this device has several shortcomings including limited workspace, visibility and high price. Instead, we developed gait estimation system using gyroscopes. This system provides gait information including the number of gaits, stride and walking distance. With four gyroscope (one for each leg's thigh and calf) outputs, the proposed gait modeling estimates the movements of the hip, the knees and the feet. Complete pedestrian localization is implemented with gait information and the heading angle estimated from the rate gyro and the magnetic compass measurements. The developed system is very useful for diagnosis and the rehabilitation of the pedestrian at the hospital. It is also useful for indoor localization of the pedestrians.

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