Sparse Visual-Inertial Measurement Units Placement for Gait Kinematics Assessment
| Autor: | Randa Mallat, Samer Mohammed, Raphaël Dumas, Mohamad Khalil, Vincent Bonnet, Mohamed Adjel, Gentiane Venture |
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| Přispěvatelé: | Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Laboratoire de Biomécanique et Mécanique des Chocs (LBMC UMR T9406 ), Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Université Gustave Eiffel, Tokyo University of Agriculture and Technology (TUAT), Lebanese University [Beirut] (LU), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse 1 Capitole (UT1) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Forward kinematics
Inertial frame of reference Computer science Acceleration Biomedical Engineering Kinematics GAIT REHABILITATION Extended Kalman filter Motion Gait (human) INERTIAL MEASUREMENT UNIT Inertial measurement unit Internal Medicine Humans Computer vision EXTENDED KALMAN FILTER (EKF) [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph] Gait business.industry General Neuroscience Rehabilitation Kalman filter Biomechanical Phenomena Photogrammetry AUGMENTED REALITY MARKERS Artificial intelligence business |
| Zdroj: | IEEE Transactions on Neural Systems and Rehabilitation Engineering IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers, 2021, 29, pp.1300-1311. ⟨10.1109/TNSRE.2021.3089873⟩ IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021, 29, pp.1300-1311. ⟨10.1109/TNSRE.2021.3089873⟩ IEEE Transactions on Neural Systems and Rehabilitation Engineering, IEEE Institute of Electrical and Electronics Engineers, 2021, 29, pp.1300-1311. ⟨10.1109/TNSRE.2021.3089873⟩ |
| ISSN: | 1534-4320 1558-0210 |
| DOI: | 10.1109/TNSRE.2021.3089873⟩ |
| Popis: | International audience; This study investigates the possibility of estimating lower-limb joint kinematics and meaningful performance indexes for physiotherapists, during gait on a treadmill based on data collected from a sparse placement of new Visual Inertial Measurement Units (VIMU) and the use of an Extended Kalman Filter (EKF). The proposed EKF takes advantage of the biomechanics of the human body and of the investigated task to reduce sensor inaccuracies. Two state-vector formulations, one based on the use of constant acceleration model and one based on Fourier series, and the tuning of their corresponding parameters were analyzed. The constant acceleration model, due to its inherent inconsistency for human motion, required a cumbersome optimisation process and needed the a-priori knowledge of reference joint trajectories for EKF parameters tuning. On the other hand, the Fourier series formulation could be used without a specific parameters tuning process. In both cases, the average root mean square difference and correlation coefficient between the estimated joint angles and those reconstructed with a reference stereophotogrammetric system was 3.5deg and 0.70, respectively. Moreover, the stride lengths were estimated with a normalized root mean square difference inferior to 2% when using the forward kinematics model receiving as input the estimated joint angles. The popular gait deviation index was also estimated and showed similar results very close to 100, using both the proposed method and the reference stereophotogrammetric system. Such consistency was obtained using only three wireless and affordable VIMU located at the pelvis and both heels and tracked using two affordable RGB cameras. Being further easy-to-use and suitable for applications taking place outside of the laboratory, the proposed method thus represents a good compromise between accurate reference stereophotogrammetric systems and markerless ones for which accuracy is still under debate. |
| Databáze: | OpenAIRE |
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