정강이 관성센서를 활용한 DMM 기법 기반 실시간 보행 파라미터 검출 및 예측

초록

In this paper, we presented a method estimating the gait cycle in real-time by using inertial measurement unit sensor. We detected two gait parameters (heel-strike and two-off) by using the shank angular velocity via dual minima method. Also, we proposed a method predicting gait parameters of next stride using the previously detected gait parameters. The experiments were conducted in three different walking velocities. The detected parameters highly coincide in comparison with the previous literature. In addition, the predicted gait parameters were also highly corresponded in compared to the detected gait parameters. The proposed method is expected to be effective in controlling wearable robots for walking assistance by detecting and simply predicting walking parameters.

키워드