ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-E11
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6軸IMUセンサを用いた歩行速度に依存しない遊脚後期検出アルゴリズムの開発
*今井 悠斗石井 雄太伊丹 琢米山 淳
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If elderly people fall, the fear of falling may lead to decreased activity and abnormal gait, which may increase the risk of falling over the long term. Falls often occur during the terminal swing when the heel just before contact with the ground. In this study, we develop a detection algorithm for the terminal swing that does not depend on walking speed using 6-axis sensor. We propose the terminal swing detection algorithm that focuses on angular velocity in the direction of vertical and acceleration in the direction of travel. We used motion capture to verify that the onset of the terminal swing can be detected when the tibia becomes vertical. As a result, it was possible to detect a mean absolute error of 66.1ms or less at walking speeds of 2km/h to 5km/h.

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