Gait phase detection using foot acceleration for estimating ground reaction force in long distance gait rehabilitation

Kazuya Kawamura, Yuya Morita, Jun Okamoto, Kohei Saito, Salvatore Sessa, Massimiliano Zecca, Atsuo Takanishi, Shin ichiro Takasugi, Masakatsu G. Fujie

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In gait rehabilitation, achieving a gait analysis method using a simple system during long-distance walking is important. This method is required to measure all gait parameters in a single measurement. In addition, it is required that the measurement system is not spatially constrained. Therefore, we have been developing a gait tracking system with acceleration sensors for long-distance gait rehabilitation. In this paper, we describe a gait phase detection method using foot acceleration data for estimating ground reaction force during long-distance gait rehabilitation. To develop this method, we focused on the jerk of each foot in vertical axis direction. Using two accelerometers mounted on the left and right feet, we carried out three experiments. First, we measured the jerk of each foot during a free gait to verify the relation with the walking speed. Second, we measured the jerk of each foot during walking faster than normal for each subject. We then compared these results with the results of first experiments. Finally, we measured the jerk of each foot during left-right asymmetrical walking. The results confirmed that gait phase could be detected using the jerk of each leg, calculated from acceleration data in vertical axis direction. In particular, the timing of Heel-contact / Toe-off could be obtained with an average error of 0.03 s. And as a preliminary study, we estimated the ground reaction force using the one of the results.

Original languageEnglish
Pages (from-to)828-837
Number of pages10
JournalJournal of Robotics and Mechatronics
Volume24
Issue number5
Publication statusPublished - 2012 Oct 1

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Keywords

  • Acceleration
  • Gait phase detection
  • Gait rehabilitation
  • Jerk

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

Cite this

Kawamura, K., Morita, Y., Okamoto, J., Saito, K., Sessa, S., Zecca, M., Takanishi, A., Takasugi, S. I., & Fujie, M. G. (2012). Gait phase detection using foot acceleration for estimating ground reaction force in long distance gait rehabilitation. Journal of Robotics and Mechatronics, 24(5), 828-837.