Real-time Gait Phase Estimation Based on Multi-source Flexible Sensors Fusion
Published in RobCE 23: Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering, 2023
Recommended citation: X. Zhao, R. Liu, T. Ma, H. Li, and Q. Song, “Real-time Gait Phase Estimation Based on Multi-source Flexible Sensors Fusion,” in Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering, Nanjing China: ACM, May 2023, pp. 113–118. doi: 10.1145/3598151.3598223. https://dl.acm.org/doi/10.1145/3598151.3598223
Motion capture system serves as a critical technology in a wide range of applications. Nowadays, motion capture system based on inter components has become a new research hotspot. This paper provides a new design of low cost wearable wireless inertia measurement unit based on a 9-DOF micro inertia sensor MPU9250 and STM32F103C8T6 MCU. Furthermore, an ultra-low power (ULP) 2Mbps RF transceiver IC NRF24L01 was used as RF transceiver, which operates in 2.4GHz ISM (Industrial, Scientific and Medical) band, with peak RX/TX currents lower than 14mA. Finally, a program was built by Unity3D 5.6 on PC to display sensors real-time attitude and the experiment shows it has good performance in static and dynamic state.
Recommended citation: X. Zhao, R. Liu, T. Ma, H. Li, and Q. Song, “Real-time Gait Phase Estimation Based on Multi-source Flexible Sensors Fusion,” in Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering, Nanjing China: ACM, May 2023, pp. 113–118. doi: 10.1145/3598151.3598223.