Using a mobile range-camera motion capture system to evaluate the performance of integration of multiple low-cost wearable sensors and gait kinematics for pedestrian navigation in realistic environments

摘要

This paper presents a comparison of joint angle and step length estimation computed from multiple low-cost wearable sensors and optical systems. Seven wearable sensors are mounted on the pelvis, and the thigh, shank, and foot of both legs. Two types of experiments are conducted, a treadmill walk and straight line walk. The joint angles are estimated using a Kalman filtering method to fuse all sensor measurements. The step lengths are computed based on the estimated joint angles. The results show that the average errors of pitch angles and step lengths are 3 degrees and 6 cm, respectively, for treadmill walk.