G0200-2-5 加速度・角速度センサーによる三次元歩行解析(バイオエンジニアリング部門一般講演(2),社会変革を技術で廻す機械工学)

抄録

Gait analysis is important for evaluation of walk ability and rehabilitation effect. We propose a new method for gait analysis using wearable acceleration and gyro sensors based on quaternion calculations. In this method, each subject fixed seven sensor units which consisted of a tri-axis acceleration sensor and three single axis gyro sensors on their body segments. Acceleration and angular velocity data detected from each sensor unit were corrected during level walking. Initial orientations of sensor units were shown as inclinations from gravity axis by using acceleration data during upright positioning in the trial. Angular displacements of sensor units were estimated using angular velocity data during through the trial. An original algorithm based on quaternion calculation was used for the orientation estimations. Each orientation of sensor unit was transformed to orientation of body segment by rotation matrix obtained from calibration trial. Body segment orientations were used for consisting 3-D stick animation of subject during trial for gait representation. Measurement and analysis were applied for five subjects. The results were compared with results from camera system to focus on the joint angle. The joint angles showed the same tendency with similar joint angle values obtained in both systems. The portability without spatial constraints of this sensor system could improve the capability for clinical applications based on the gait analysis.