Empiric derivation of a human's walk transition probability matrix with inertial measurement units

• Grant number: 15/20644-5
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: April 01, 2016
• End date: March 31, 2017
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Marco Henrique Terra
• Grantee: Francisco Ambrosio Garcia
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

Inertial Measurement Units (IMUs), sensors that are commonly used in rigid bodies dynamics, have excelled in recent years, due to research aimed to its cheapening and precision. One of its applications is data acquisition about dynamic systems. If the data volume is large enough, accurate predictions of the future system's conditions can be made. It is possible after a statistical analysis, which can be crucial for the development of an appropriate controller, for example. In this project, a human's walk Transition Probability Matrix is going to be derived empirically, which will be applied in a exoskeleton controller used in rehabilitation treatments. At first, Inertial Measurements Units will be studied theoretically and experimental results will be collect with isolated IMUs. Next, they are going to be applied in most possible scenarios during real human walk and, after, during rehabilitation treatments. Finally, the transitions probabilities in a human walk will be derived according to such data.