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Inertial navigation algorithm for trajectory of front-wheel walker estimation.

Quang Vinh Doan1, Duy Duong Pham2

  • 1The University of Danang - University of Science and Technology, Danang, Vietnam.

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Summary

This study presents a novel system for estimating walker trajectory using an inertial measurement unit (IMU) and encoders. The proposed method accurately tracks walker movement across various styles, especially continuous rolling.

Keywords:
Electrical engineeringFront-wheel walkerIMUInertial navigationInertial sensorMechanical engineeringWalker's trajectory

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Area of Science:

  • Robotics and Biomechanics
  • Sensor Fusion and Estimation Theory

Background:

  • Accurate estimation of assistive device trajectory is crucial for enhancing user mobility and safety.
  • Existing methods may struggle with complex movements or require external infrastructure.

Purpose of the Study:

  • To develop and validate a robust system for estimating the trajectory of a front-wheel walker.
  • To integrate inertial measurement unit (IMU) data with encoder feedback for improved position and orientation estimation.

Main Methods:

  • A system combining an IMU and two wheel encoders was designed for walker trajectory estimation.
  • Three novel update equations were proposed: quaternion update (vertical vector), quaternion update (yaw angle), and position update (encoders).
  • Experimental validation involved four distinct walking styles: continuous rolling, step-by-step rolling, complete lifting, and 2 back tips lifting.

Main Results:

  • The proposed update equations demonstrated appropriateness across all tested walking styles.
  • The system showed particular effectiveness in estimating trajectories during continuous rolling motion.
  • Experimental results confirm the system's capability to handle diverse walker movements.

Conclusions:

  • The developed IMU and encoder-based system provides accurate walker trajectory estimation.
  • The proposed update equations offer a versatile solution for various walking scenarios.
  • This technology has potential applications in advanced walker assistance and rehabilitation systems.