抄録
Non-restricted estimate of three-dimensional (3D) walk trajectory during indoor locomotion is discussed. The walk trajectory is derived by the integration of the 3D acceleration of subject's foot. A sensor system is composed of an 3D accelerometer, three gyroscops, and one geomagnetic sensor and is attached on the tiptoe. Integral errors of the acceleration and the angular velocity are modified to keep the continuity of the velocity and the posture of the sensor system between the swing phase and the stance phase. Six subjects performed walk experiments including level walk, ascending, and descending in an office building to verify the proposed method. The experimental results show that the estimation error of 3D location to the actual walk distance is less than 10 [%] and the application of the proposed method improves the precise measurement of 3D walk trajectory.
