ウェアラブルセンサシステムを用いた関節トルク推定の歩行解析への適用に関する研究

抄録

This paper proposes the estimation method of joint torque in gait analysis using the wearable sensor system installing the inertial sensors and the wearable force plates. In this method, joint torques are calculated by inverse dynamics analysis using the Newton-Euler method, and the joint torques are compensated by using the Unscented Kalman filter and the conditions of the body structure. This method estimates the joint torque compensating the accumulative error by transmission of force and moment in the Newton-Euler method. We conducted the measurement experiment the 5m gait test, and we estimated the compensated joint torques. The results by proposed method showed the same tendency as before the compensation, and the offset error was compensated. This method can be used for the gait analysis using the wearable sensor system.