A kinematic method for computing the motion of the body centre-of-mass (CoM) during walking: a Bayesian approach |
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Authors: | Fabio Martínez Francisco Gómez |
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Affiliation: | Bioingenium Research Group – School of Medicine, National University of Colombia , Bogotá, DC, Colombia |
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Abstract: | The gait pattern of a particular patient can be altered in a large set of pathologies. Tracking the body centre-of-mass (CoM) during the gait allows a quantitative evaluation of these diseases at comparing the gait with normal patterns. A correct estimation of this variable is still an open question because of its non-linearity and inaccurate location. This paper presents a novel strategy for tracking the CoM, using a biomechanical gait model whose parameters are determined by a Bayesian strategy. A particle filter is herein implemented for predicting the model parameters from a set of markers located at the sacral zone. The present approach is compared with other conventional tracking methods and decreases the calculated root mean squared error in about a 56% in the x-axis and 59% in the y-axis. |
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Keywords: | human movement gait analysis centre-of-mass Bayesian filter particle filter |
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