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We studied the feasibility of estimating walking speed using two shank-mounted accelerometers. Our approach took advantage of the inverted pendulum-like behavior of the stance leg during walking to identify a new method for dividing up walking into individual stride cycles and estimating the initial conditions for the direct integration of the accelerometer signals. To test its accuracy, we compared...
This paper studied the feasibility of walking speed and slope estimation using shank-mounted inertial measurement units, and proposed a real-time stride-by-stride walking speed and slope estimation method. This method processed acceleration and angular velocity measured by a shank-mounted inertia measurement unit and output stride-by-stride walking speed and slope information in real time. Instead...
• Gait cycle segmentation using inverted pendulum model of walking • Direct integration of accelerations • Real-time algorithm in Matlab/Simulink Real Time Workshop/Real Time Windows Target • Accurate speed estimation with 7% error • Useful for control of prostheses, orthoses, exoskeletons and energy harvesters
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