This paper deals with the development of IMU based real-time Foot-Ground Contact Detection (FGCD) algorithm considering the variations of walking speed. To estimate the location and walking speed of pedestrian in the GPS-denied environment, IMU based ...
This paper deals with the development of IMU based real-time Foot-Ground Contact Detection (FGCD) algorithm considering the variations of walking speed. To estimate the location and walking speed of pedestrian in the GPS-denied environment, IMU based lower-limb kinematics is a proper method, and in order to solve the lower-limb kinematics, the information of the contact between foot and ground should be obtained in real-time. To develop the IMU based FGCD algorithm available at various walking speed, the subjects with IMUs on the lower-limb walked on the flat ground with three levels of walking speed. As results of gait analysis based on the IMU output signal, the four main parameters showing significant changes at the four steps of stance phase are discovered. Using the thresholds and peak values of the main parameters at the four steps of stance phase, the IMU based real-time FGCD algorithm is successfully developed.