Estimating CoM by using IMU and Individual Body Model

Abstract

Inertial measurement unit (IMU) was used to measure walking. There remain the problem that the result using IMU was affected by accumulate error. To solve this problem, digital human model was used as constraints to compute walking posture. Center of mass (CoM) during walking was estimated by using the digital human model and the IMU. The IMU were attached on lower limb of subject. The measurments of the individualized digital human model was utilized to compute position of each joints. The posture of each lower limbs were obtained from IMU. The estimated CoM were comparing that measured by the optical motion capture.The estimated CoM trajectory showed similar pattern of the trajectory measured by optical motion capture. The largest error was confirmed in anterior posterior direction. This result suggests that accumulate error have less effect by using digital human model.