慣性センサを用いた身体運動と床反力の推定手法の開発

抄録

The ground reaction force generated by the interaction between the foot and the ground is one of the important parameters for gait analysis. However, force plates and instrumentation treadmills used for ground reaction force measurement are large and expensive, can be used only in a laboratory environment, and have the problem of being unsuitable for gait analysis in daily life. This paper presents a novel methodology for estimating the ground reaction force during walking based on inertial sensor and forward dynamics simulation. In this simulation, a human body was represented by the rigid links model, the walking pattern and ground reaction force synthesized by forward dynamics simulation was optimized so as to approach the walking pattern measured by the inertial sensors. The ground reaction force estimated by the proposed method should be improved to agree the actual ones.