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

    Fingerprint

    Patient rehabilitation
    Gait analysis
    Accelerometers
    Experiments
    Sensors

    Keywords

    • Acceleration
    • Gait phase detection
    • Gait rehabilitation
    • Jerk

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Computer Science(all)

    Cite this

    Kawamura, K., Morita, Y., Okamoto, J., Saito, K., Sessa, S., Zecca, M., ... 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.

    Gait phase detection using foot acceleration for estimating ground reaction force in long distance gait rehabilitation. / Kawamura, Kazuya; Morita, Yuya; Okamoto, Jun; Saito, Kohei; Sessa, Salvatore; Zecca, Massimiliano; Takanishi, Atsuo; Takasugi, Shin ichiro; Fujie, Masakatsu G.

    In: Journal of Robotics and Mechatronics, Vol. 24, No. 5, 10.2012, p. 828-837.

    Research output: Contribution to journalArticle

    Kawamura, K, Morita, Y, Okamoto, J, Saito, K, Sessa, S, Zecca, M, Takanishi, A, Takasugi, SI & Fujie, MG 2012, 'Gait phase detection using foot acceleration for estimating ground reaction force in long distance gait rehabilitation', Journal of Robotics and Mechatronics, vol. 24, no. 5, pp. 828-837.
    Kawamura, Kazuya ; Morita, Yuya ; Okamoto, Jun ; Saito, Kohei ; Sessa, Salvatore ; Zecca, Massimiliano ; Takanishi, Atsuo ; Takasugi, Shin ichiro ; Fujie, Masakatsu G. / Gait phase detection using foot acceleration for estimating ground reaction force in long distance gait rehabilitation. In: Journal of Robotics and Mechatronics. 2012 ; Vol. 24, No. 5. pp. 828-837.
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