Corpus ID: 203734688

Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count

@article{Sy2019EstimatingLL,
  title={Estimating Lower Limb Kinematics using a Lie Group Constrained EKF and a Reduced Wearable IMU Count},
  author={Luke Wicent Sy and Nigel H. Lovell and Stephen Redmond},
  journal={ArXiv},
  year={2019},
  volume={abs/1910.01808}
}
  • Luke Wicent Sy, Nigel H. Lovell, Stephen Redmond
  • Published in ArXiv 2019
  • Computer Science, Engineering
  • This paper presents an algorithm that makes novel use of Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) for accurately estimating pelvis, thigh, and shank kinematics during walking using only three wearable inertial sensors. The algorithm iterates through the prediction update (kinematic equation), measurement update (pelvis height, zero velocity update, flat-floor assumption, and covariance limiter), and constraint update (formulation… CONTINUE READING

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