GAIT MONITOR
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Abstract
Vertical centre of mass movement measuring apparatus comprising an inertial sensing device, for producing outputs relating to rotation and acceleration in its local frame of reference and configured for fastening to the back of an animal, preferably a person, a memory and a processor, wherein the processor is programmed to provide a quaternion corresponding to the rotation of the inertial sensing device and a first acceleration, both based on an output of the rotation sensing device, and the processor is programmed to combine the quaternion and the first acceleration and based on the result of the combination to provide, when the device is fastened close enough to the centre of mass of a moving object such as a person, an estimate of vertical displacement, or a derivative of vertical displacement, of the centre of mass in a global reference frame.
33 Citations
56 Claims
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1-32. -32. (canceled)
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33. A vertical center of mass movement measuring apparatus comprising:
- an inertial sensing device having a local frame of reference and arranged to undergo rotation and acceleration in the local frame of reference, for producing outputs relating to said rotation and acceleration in the local frame of reference, and configured for fastening to the back of an animal having a center of mass;
a memory; and
a processor, wherein the processor is programmed to provide a quaternion corresponding to the rotation of the inertial sensing device and a first acceleration, both based on an output of the rotation sensing device, and the processor is programmed to combine the quaternion and the first acceleration to produce a result, and based on the result to provide an estimate of at least one of a vertical displacement and a derivative of vertical displacement, of the center of mass in a global reference frame. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
- an inertial sensing device having a local frame of reference and arranged to undergo rotation and acceleration in the local frame of reference, for producing outputs relating to said rotation and acceleration in the local frame of reference, and configured for fastening to the back of an animal having a center of mass;
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55. A vertical center of mass movement measuring apparatus comprising:
- an inertial sensing device, for producing outputs relating to rotation and acceleration in its local frame of reference, a memory and a processor, wherein the processor is programmed to provide a rotation element, such as an Euler rotation matrix or a quaternion, corresponding to the rotation of the inertial sensing device and a first acceleration, both based on an output of the rotation sensing device, and the processor is programmed to combine the rotation element and the first acceleration and based on the result of the combination to provide a measure of vertical displacement, or a derivative of vertical displacement, in a global reference frame, wherein the apparatus is configured to apply a mathematical function, such a window, to the data from the combining of the first acceleration and rotation element to remove noise/errors that contribute to drift.
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56. A method of measuring at least one of vertical center of mass displacement and a derivative of vertical displacement, of an object, in a global reference frame, the method comprising the steps of:
- applying an inertial sensing device to the object;
calculating a quaternion corresponding to the rotation of the inertial sensing device and a first acceleration from the outputs of the inertial sensing device, and combining the quaternion and acceleration.
- applying an inertial sensing device to the object;
Specification