Foot and ground measurement using portable sensors

Abstract

A portable gait measurement system for foot dynamic analysis is proposed. Portable cheap sensors are suitable in active control rehabilitation equipment such as prostheses and orthoses. A system of one gyroscope and two accelerometers was used to measure the foot movement in the sagital plane. Both ground inclination during stance and foot angle relative to ground during swing are estimated. This enables fast detection of changing environments such as hills and stairs.