JRM Vol.24 No.5 pp. 828-837
doi: 10.20965/jrm.2012.p0828


Gait Phase Detection Using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation

Kazuya Kawamura*1, Yuya Morita*2, Jun Okamoto*3,
Kohei Saito*2, Salvatore Sessa*2, Massimiliano Zecca*2,
Atsuo Takanishi*2, Shin-ichiro Takasugi*4, and Masakatsu G. Fujie*2

*1Chiba University, 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan

*2Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan

*3Tokyo Women’s Medical University, 8-1 Kawada-cho, Shinjuku-ku, Tokyo 162-8666, Japan

*4Kyushu University Hospital, 3-1-1 Maidashi, Higashi-ku, Fukuoka city, Fukuoka 812-8582, Japan

March 17, 2012
July 4, 2012
October 20, 2012
gait rehabilitation, gait phase detection, jerk, acceleration

In gait rehabilitation, achieving a gait analysis method using a simple system during long-distance walking is important. This method is required to measure all gait parameters in a single measurement. In addition, it is required that the measurement system is not spatially constrained. Therefore, we have been developing a gait tracking system with acceleration sensors for long-distance gait rehabilitation. In this paper, we describe a gait phase detection method using foot acceleration data for estimating ground reaction force during long-distance gait rehabilitation. To develop this method, we focused on the jerk of each foot in vertical axis direction. Using two accelerometers mounted on the left and right feet, we carried out three experiments. First, we measured the jerk of each foot during a free gait to verify the relation with the walking speed. Second, we measured the jerk of each foot during walking faster than normal for each subject. We then compared these results with the results of first experiments. Finally, we measured the jerk of each foot during left-right asymmetrical walking. The results confirmed that gait phase could be detected using the jerk of each leg, calculated from acceleration data in vertical axis direction. In particular, the timing of Heel-contact / Toe-off could be obtained with an average error of 0.03 s. And as a preliminary study, we estimated the ground reaction force using the one of the results.

Cite this article as:
Kazuya Kawamura, Yuya Morita, Jun Okamoto,
Kohei Saito, Salvatore Sessa, Massimiliano Zecca,
Atsuo Takanishi, Shin-ichiro Takasugi, and Masakatsu G. Fujie, “Gait Phase Detection Using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation,” J. Robot. Mechatron., Vol.24, No.5, pp. 828-837, 2012.
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