GNSS Aided In Situ Human Lower Limb Kinematics During Running

S.P. Kwakkel, G. Lachapelle, M.E. Cannon

Abstract:	This paper evaluates the performance of field-portable, low-cost IMUs for kinematic measurements during walking and running. Nine MEMS-based IMU sensors are attached to a test subject’s lower limbs. The individual was then asked to traverse a prescribed route at normal walking speed and then again at a comfortable running speed. The performance of a previously developed step and stance phase detection algorithm is analyzed for both walking and running gaits. The step detection algorithm is marginally less effective for running scenarios and requires slight modifications to ensure proper step detection. The stance phase detection, and thus the application of ZUPTs during the stance phase is reduced for running gaits since the dynamics of the lower limb are higher and the stance phase is appreciably shorter than in walking scenarios. Rotational and step kinematics are given and show a high degree of correlation with results seen in the literature thus far. Kinematic measurements were also shown to be highly reliable during periods of GPS outage.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	1388 - 1397
Cite this article:	Kwakkel, S.P., Lachapelle, G., Cannon, M.E., "GNSS Aided In Situ Human Lower Limb Kinematics During Running," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 1388-1397.
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