To Study, Implement and Validate an Inertial-Sensors Based Gait/Posture Analysis System for Lower Extremity Prosthesis Users

For lower-limb prosthetic users long-term gait deviation may result in the pain of knee joints, spine and/or lower back, and eventually posture abnormality occurs. The technique to track indoor and outdoor walking path without using a GPS can be further applied in intelligent living. This project aims to develop a wireless multiple-channel inertial sensing gait and posture analysis system that gets rid of having to rely on a GPS for tracking walking path and evaluating walk distance. The study contains two parts.(1) First, we are developing and implementing a multiple-channel IMU analysis system for walking path tracking and gait/posture reconstruction designated by single-, seven- and nine-IMUs modules. To the purpose, some tasks need to be achieved including (i) implementation of a wireless inertial sensing module with varied options, (ii) able to perform dynamic alignment of prosthesis, (iii) adaptive calibration for IMU gyros, (iv) IMU-based localization tracking without using GPS, and (v) multiple-channel IMU gait/posture analysis.(2) Secondly, the protocols for human subject experiments will be designed for the purpose of rehabilitation practice and intelligent living including (i) gait analysis for the symmetry assessment of two feet to feedback for rehab planning and prosthesis adjustment, (ii) gait/posture analysis to correlate posture abnormality with gait deviation, and (iii) walking path tracking for the intelligent living application. In order to obtain reliable and precise evaluation for the above tasks, a key and fundamental issue is to realize adaptive calibration for IMU gyros which ensures acquiring correct angular velocity data.