Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Foot Movement Tracking System using Ultrasonic Sensors and Inertial Sensors

초음파센서와 관성센서를 이용한 발의 움직임 추적 시스템

  • 부장훈 (울산대학교 전기전자정보시스템공학부) ;
  • 박상경 (울산대학교 전기전자정보시스템공학부) ;
  • 서영수 (울산대학교 전기전자정보시스템공학부)
  • Received : 2010.03.05
  • Accepted : 2010.09.30
  • Published : 2010.11.01
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Abstract

This paper presents a foot movement tracking system using ultrasonic sensors and inertial sensors, where the position and velocity of foot are computed using inertial sensors and ultrasonic sensors mounted on a shoe. A foot movement can be estimated using an inertial navigation algorithm only; however, the error tends to increase due to biases of gyroscopes and accelerometers. To reduce the error, a localization system using ultrasonic sensors is additionally used. In the localization system using ultrasonic sensors, the position is continuously calculated in the absolute coordinate. An indirect Kalman filter is used to combine inertial sensors and ultrasonic sensors. Through experiments, it is shown that the proposed system can track a foot movement.

Keywords

Acknowledgement

Supported by : 울산대학교

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