Estimation of Ground Reaction Forces Using Low-Cost Instrumented Forearm Crutches

Date

2018-06-01

Author

Seylan, Çağlar
Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

255
views

0
downloads

Instrumented crutches are useful for many rehabilitation tasks, including monitoring the correctness of crutch use, analyzing gait properties for patients with lower-limb impairments, as well as providing sensory data for controlling lower-body robotic orthoses. In this paper, we describe the design and analysis of an instrumented crutch system equipped with low-cost accelerometer and pressure sensors to estimate all components of the ground reaction force (GRF), providing a well-defined and physically meaningful sensory output for practical applications. We propose an angle-dependent quadratic model to map pressure and inclination data to force components, which we identify using least-squares methods. Through systematic characterization experiments, we first show that our model can predict GRF vectors with less than 7% rms errors in all axes for fixed crutch angles used for training. Subsequently, we generalize the model to crutch angles other than those used for training, showing that rms estimation errors remain below 7% for all axes. Finally, we assess measurement accuracy and performance under dynamic loading conditions with time-varying crutch angles, showing that errors still remain below 8% under realistic conditions.

Subject Keywords

Force measurement, Force-resistive sensors, Istrumented crutch, Least-squares optimization, System identification

URI

https://hdl.handle.net/11511/40183

Journal

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT

DOI

https://doi.org/10.1109/tim.2018.2799019

Collections

Department of Computer Engineering, Article

Suggestions

OpenMETU
Core

Measurement of AC magnetic field distribution using magnetic resonance imaging Ider, YZ; Muftuler, LT (1997-10-01) Electric currents are applied to body in numerous applications in medicine such as electrical impedance tomography, cardiac defibrillation, electrocautery, and physiotherapy. If the magnetic field within a region is measured, the currents generating these fields can be calculated using the curl operator. In this study, magnetic fields generated within a phantom by currents passing through an external wire is measured using a magnetic resonance imaging (MRI) system, A pulse sequence that is originally design...
Methods and technologies for gait analysis Sürer, Elif (Springer-Verlag London Limited, 2011-01-01) Gait analysis is a highly active research area with a wide range of applications in clinical settings, surveillance and human-computer interaction. The focus of this chapter is the clinical aspect of gait analysis, in which accuracy and precision are essential. Subsequently, the chapter focuses on various techniques of measuring gait and introduces taxonomy for their analysis. From this perspective, motion measurements using motion capture and inertial sensors are presented. Motion capture techniques are an...
Numerical aspects of anisotropic failure in soft biological tissues favor energy-based criteria: A rate-dependent anisotropic crack phase-field model Gueltekin, Osman; Dal, Hüsnü; Holzapfel, Gerhard A. (2018-04-01) A deeper understanding to predict fracture in soft biological tissues is of crucial importance to better guide and improve medical monitoring, planning of surgical interventions and risk assessment of diseases such as aortic dissection, aneurysms, atherosclerosis and tears in tendons and ligaments. In our previous contribution (Gultekin et al., 2016) we have addressed the rupture of aortic tissue by applying a holistic geometrical approach to fracture, namely the crack phase-field approach emanating from va...
Identification of a vertical hopping robot model via harmonic transfer functions Uyanik, Ismail; Ankaralı, Mustafa Mert; Cowan, Noah J.; Saranlı, Uluç; Morgul, Omer (2016-05-01) A common approach to understanding and controlling robotic legged locomotion is the construction and analysis of simplified mathematical models that capture essential features of locomotor behaviours. However, the representational power of such simple mathematical models is inevitably limited due to the non-linear and complex nature of biological locomotor systems. Attempting to identify and explicitly incorporate key non-linearities into the model is challenging, increases complexity, and decreases the ana...
Control of constrained spatial three-link flexible manipulators KILIÇASLAN, SİNAN; Özgören, Mustafa Kemal; Ider, S. Kemal (2007-06-29) This study deals with the force and motion control of a spatial three-link articulated manipulator with flexible second and third links. In order to reduce the complexity of the dynamic equations each link is modelled as if unconnected and the joint connections are expressed as constraint equations. Then the joint forces are eliminated and the number of equations is reduced by substituting the acceleration level constraint equations into the dynamic equations. The dynamic equations are partitioned as pseudo...

Citation Formats

Ç. Seylan and U. Saranlı, “Estimation of Ground Reaction Forces Using Low-Cost Instrumented Forearm Crutches,” IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, pp. 1308–1316, 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/40183.