A Basic Study on Estimation of Center of Mass Trajectory Using Inertial Sensors

Abstract

In rehabilitation of hemiplegic patients, it is important to get an ability of loading weight on the paretic lower limb. Generally, physical therapists evaluate the ability by using weight scales in the standing position or observation of movements during walking. Therefore, a method of objective and quantitative evaluation of the limb-loading ability in a series of movements including both standing and walking has not been realized. The purpose of this study was to develop an estimation method of center of mass (CoM) position using inertial sensors. It is expected that estimated relationship between CoM position and foot position makes possible to evaluate movement of the weight. In this report, at first, the attachment positions of inertial sensors were examined. Then, movements were measured during moving the weight in a standing position and during gait. From the results, problems to be solved for improving the accuracy for practical application were discussed.