A Feasibility Study on Thigh Inclination Angle Estimation with an Inertial Sensor Attched on the Shank Segment

Abstract

A method of estimating thigh inclination angle during walking with an IMU attached on the shank was tested. A single IMU can be useful for monitoring rehabilitation effects at home and hospital. The method was tested in estimation of inclination angles of thigh and shank parts of a rigid body model. RMSE of estimated thigh angle under the limitation of the angle less than 60deg (absolute value) were less than about 5deg. Shank inclination angle was well estimated with RMSE less than 2deg. Correlation coefficient values were larger than 0.99 in average for both angles.