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하지부 기구학 모델과 보행주기분석을 이용하는 관성측정센서 기반 보행위치 측정 방법

송기욱1, 송영은2, 정회룡1,#orcid

IMU based Walking Position Tracking using Kinematic Model of Lower Body and Walking Cycle Analysis

Kee Wook Song1, Young Eun Song2, Hoeryong Jung1,#orcid
Journal of the Korean Society for Precision Engineering 2018;35(10):965-972.
Published online: October 1, 2018

1 건국대학교 기계공학부

2 호서대학교 전기공학과

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#E-mail: junghl80@konkuk.ac.kr, TEL: +82-2-450-3903
• Received: March 19, 2018   • Revised: June 28, 2018   • Accepted: July 2, 2018

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IMU based Walking Position Tracking using Kinematic Model of Lower Body and Walking Cycle Analysis
J. Korean Soc. Precis. Eng.. 2018;35(10):965-972.   Published online October 1, 2018
DOI: https://doi.org/10.7736/KSPE.2018.35.10.965
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IMU based Walking Position Tracking using Kinematic Model of Lower Body and Walking Cycle Analysis
J. Korean Soc. Precis. Eng.. 2018;35(10):965-972.   Published online October 1, 2018
DOI: https://doi.org/10.7736/KSPE.2018.35.10.965
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IMU based Walking Position Tracking using Kinematic Model of Lower Body and Walking Cycle Analysis
Image Image Image Image Image Image Image Image Image
Fig. 1 Coordinate frame assigned to joints of lower body
Fig. 2 Classification of walking state
Fig. 3 Flow chart of the walking position measurement algorithm
Fig. 4 Detection of LHS and RHS using shin angle analysis
Fig. 5 Experimental configuration for validation of walking cycle analysis
Fig. 6 Experimental results of validation of walking cycle analysis algorithm
Fig. 7 Attachment of IMU sensors
Fig. 8 Experimental results of straight walking
Fig. 9 Experimental results of circular walking

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

IMU based Walking Position Tracking using Kinematic Model of Lower Body and Walking Cycle Analysis
Algorithm: Walking cycle analysis (RHS and LHS detection)
1: Compute αLthresh and αRthresh
2: While motion capture program is executed
3: If State = State 1 then
4: Input angle αR
5: If αR<αRthresh then
6: State = State 2
7: Update αRthresh
8: Endif
9: Else if State = State 2 then
10: Input angle αR
11: If αR<αRthresh then
12: State = State1
13: Update αLthresh
14: Endif
15: Endif
16: Endwhile
Subject 1 Subject 2
Height (cm) 170 181
Weight (cm) 67 85
α0 (cm) 33 36
α1 (cm) 45 49
α2 (cm) 48 49
Subject 1 Subject 2
3M 5M 7M 3M 5M 7M
Min 295.1 489.7 712.8 292.0 490.4 686.6
Max 309.8 511.5 695.0 300.9 509.6 694.0
Aver 304.4 503.5 704.8 296.5 499.9 690.4
SD 5.7 9.2 6.6 4.2 6.8 2.6
Table 1 Walking cycle analysis algorithm
Table 2 Body size of human subject for experiments of walking position measurement
Table 3 Experimental results of straight walking

Table 1

Table 2

Table 3

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