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http://dx.doi.org/10.5302/J.ICROS.2010.16.11.1117

Foot Movement Tracking System using Ultrasonic Sensors and Inertial Sensors  

Boo, Jang-Hun (Univ. of Ulsan)
Park, Sang-Kyeong (Univ. of Ulsan)
Suh, Young-Soo (Univ. of Ulsan)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.11, 2010 , pp. 1117-1124 More about this Journal
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
ultrasonic sensors; inertial sensors; motion tracking; Kalman filter; inertial navigation algorithm;
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Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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