title: Foot Pose Estimation Using an Inertial Sensor Unit and Two Distance Sensors.
abstract: There are many inertial sensor-based foot pose estimation algorithms. In this paper, we present a methodology to improve the accuracy of foot pose estimation using two low-cost distance sensors (VL6180) in addition to an inertial sensor unit. The distance sensor is a time-of-flight range finder and can measure distance up to 20 cm. A Kalman filter with 21 states is proposed to estimate both the calibration parameter (relative pose of distance sensors with respect to the inertial sensor unit) and foot pose. Once the calibration parameter is obtained, a Kalman filter with nine states can be used to estimate foot pose. Through four activities (walking, dancing step, ball kicking, jumping), it is shown that the proposed algorithm significantly improves the vertical position estimation.
authors.affiliation: Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea. duyduongd2@gmail.com.
authors.forename: Pham Duy
authors.initials: PD
authors.lastname: Duong
authors.affiliation: Department of Electrical Engineering, University of Ulsan, Namgu, Ulsan 680-749, Korea. yssuh@ulsan.ac.kr.
authors.forename: Young Soo
authors.initials: YS
authors.lastname: Suh
mesh_terms: D000465:Algorithms; D004867:Equipment Design; D005528:Foot / Q000502:physiology*; D006801:Humans; D018670:Monitoring, Ambulatory / Q000295:instrumentation*; D011187:Posture / Q000502:physiology*; D012775:Shoes; D016138:Walking / Q000502:physiology*
keywords: Kalman filters; distance sensor; foot pose estimation; inertial sensor