WEARABLE SENSORS BASED REAL-TIME MONITORING OF GAIT KINEMATICS FOR LOWER EXTREMITY EXOSKELETONS

Authors

  • Rahul Malhotra Defence Bio-Engineering and Electromedical Laboratory, DRDO, Bengaluru, India
  • Saurav Pratap Singh Defence Bio-Engineering and Electromedical Laboratory, DRDO, Bengaluru, India
  • K. Mohanavelu Defence Bio-Engineering and Electromedical Laboratory, DRDO, Bengaluru, India
  • T. M. Kotresh Defence Bio-Engineering and Electromedical Laboratory, DRDO, Bengaluru, India

Keywords:

gait, sagittal plane, Euler angles

Abstract

This paper presents a real-time gait analyzer used to record the gait pattern of a subject which can be
primary input to lower extremity exoskeletons. Studies have been carried out on walking behaviour of
subjects indicating that lower extremity exoskeletons can take inputs as hip and knee joint movement angles
in sagittal plane. Wearable gait motion analyzer can be used to operate lower extremity exoskeletons in two
different modes: real-time gait and pre-defined gait. For pre-defined gait mode, wearable gait motion
analyzer provides wearer specific gait pattern of hip and knee joint angles in sagittal plane. A comparison
study on gait data obtained from gait lab and wearable gait motion analyser was carried out and showed 98%
correlation match. Gyroscopes of IMU are also used to measure angular velocity of hip and knee joints to
estimate specifications of exoskeleton actuators.

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Published

2021-10-03

Issue

Vol. 8 No. 10 (2021): IJIERT

Section

Articles

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