INERTIAL THIGH ANGLE SENSING FOR A SEMI-ACTIVE KNEE PROSTHESIS

摘要

We present an application of a microelectromechanical systemsrn(MEMS)-based inertial measurement unit (IMU) tornthigh angle estimation for the control of a semi-active kneernprosthesis. By using inertial based measurement devices,rnwe can move all of our sensors to one location inside thernprosthetic leg. These sensors are challenging to use, however,rnbecause error in their measurements will accumulaternover time. We show that by applying the Kalman filter to anrnIMU consisting of a dual-axis accelerometer and a singleaxisrngyroscope, we can decrease the integral of squared errorrnof our thigh angle estimates by 70%.