An Extended Kalman Filter to Estimate Human Gait Parameters and Walking Distance
Terrell R. Bennett, Roozbeh Jafari, Nicholas Gans

Citation
Terrell R. Bennett, Roozbeh Jafari, Nicholas Gans. "An Extended Kalman Filter to Estimate Human Gait Parameters and Walking Distance". Talk or presentation, 5, November, 2013; Poster presented at the 2013 TerraSwarm Annual Meeting.

Abstract
In this work, we present a novel method to estimate joint angles and distance traveled by a human while walking. We model the human leg as a two-link revolute robot. Inertial measurement sensors placed on the thigh and shin provide the required measurement inputs. The model and inputs are then used to estimate the desired state parameters associated with forward motion using an extended Kalman filter (EKF). Experimental results with subjects walking in a straight line show that distance walked can be measured with accuracy comparable to a state of the art motion tracking systems. The EKF had an average RMSE of 7 cm over the trials with an average accuracy of greater than 97% for linear displacement.

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Citation formats

• HTML

  Terrell R. Bennett, Roozbeh Jafari, Nicholas Gans. <a
  href="http://www.terraswarm.org/pubs/208.html"><i>An
  Extended Kalman Filter to Estimate Human Gait Parameters and
  Walking Distance</i></a>, Talk or presentation, 
  5, November, 2013; Poster presented at the <a
  href="http://www.terraswarm.org/conferences/13/annual"
  >2013 TerraSwarm Annual Meeting</a>.

• Plain text

  Terrell R. Bennett, Roozbeh Jafari, Nicholas Gans. "An
  Extended Kalman Filter to Estimate Human Gait Parameters and
  Walking Distance". Talk or presentation,  5, November,
  2013; Poster presented at the <a
  href="http://www.terraswarm.org/conferences/13/annual"
  >2013 TerraSwarm Annual Meeting</a>.

• BibTeX

  @presentation{BennettJafariGans13_ExtendedKalmanFilterToEstimateHumanGaitParametersWalking,
      author = {Terrell R. Bennett and Roozbeh Jafari and Nicholas
                Gans},
      title = {An Extended Kalman Filter to Estimate Human Gait
                Parameters and Walking Distance},
      day = {5},
      month = {November},
      year = {2013},
      note = {Poster presented at the <a
                href="http://www.terraswarm.org/conferences/13/annual"
                >2013 TerraSwarm Annual Meeting</a>.},
      abstract = {In this work, we present a novel method to
                estimate joint angles and distance traveled by a
                human while walking. We model the human leg as a
                two-link revolute robot. Inertial measurement
                sensors placed on the thigh and shin provide the
                required measurement inputs. The model and inputs
                are then used to estimate the desired state
                parameters associated with forward motion using an
                extended Kalman �lter (EKF). Experimental
                results with subjects walking in a straight line
                show that distance walked can be measured with
                accuracy comparable to a state of the art motion
                tracking systems. The EKF had an average RMSE of 7
                cm over the trials with an average accuracy of
                greater than 97% for linear displacement. },
      URL = {http://terraswarm.org/pubs/208.html}
  }
  

Posted by Terrell R. Bennett on 13 Nov 2013.
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