Estimation of foot orientation with respect to ground for an above knee robotic prosthesis

@article{Scandaroli2009EstimationOF,
  title={Estimation of foot orientation with respect to ground for an above knee robotic prosthesis},
  author={Glauco Garcia Scandaroli and Geovany de Ara{\'u}jo Borges and Jo{\~a}o Yoshiyuki Ishihara and Marco H. Terra and Adson Ferreira da Rocha and Francisco Assis de Oliveira Nascimento},
  journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2009},
  pages={1112-1117}
}
This paper presents a new application in the field of rehabilitation robotics. It is part of a research project which consists of the development of a robotic leg prosthesis for above knee amputees. This application aims at providing real-time estimates of the prosthesis foot orientation with respect to ground. An Extended Kalman Filter (EKF) is used in order to estimate the foot orientation based on gyroscope and infrared measurements. Moreover a constraint equation is also included in the EKF… CONTINUE READING