ArticlePloS one2021
Error-state Kalman filter for lower-limb kinematic estimation: Evaluation on a 3-body model.
Article in PloS one, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Estimating Magnetic Field at Joint Centers Reduces Kinematic Errors in Inertial Motion Capture.Research square · 2026Article
- Multimodal inverse kinematics significantly improves IMU-based biomechanical analyses.Scientific reports · 2025Article
- Evaluation of Error-State Kalman Filter Method for Estimating Human Lower-Limb Kinematics during Various Walking Gaits.Sensors (Basel, Switzerland) · 2022Article
- Estimation of Steering and Throttle Angles of a Motorized Mobility Scooter with Inertial Measurement Units for Continuous Quantification of Driving Operation.Sensors (Basel, Switzerland) · 2022Article
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6 authors.
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Abstract
Human lower-limb kinematic measurements are critical for many applications including gait analysis, enhancing athletic performance, reducing or monitoring injury risk, augmenting warfighter performance, and monitoring elderly fall risk, among others. We present a new method to estimate lower-limb kinematics using an error-state Kalman filter that utilizes an array of body-worn inertial measurement units (IMUs) and four kinematic constraints. We evaluate the method on a simplified 3-body model of the lower limbs (pelvis and two legs) during walking using data from simulation and experiment. Evaluation on this 3-body model permits direct evaluation of the ErKF method without several confounding error sources from human subjects (e.g., soft tissue artefacts and determination of anatomical frames). RMS differences for the three estimated hip joint angles all remain below 0.2 degrees compared to simulation and 1.4 degrees compared to experimental optical motion capture (MOCAP). RMS differences for stride length and step width remain within 1% and 4%, respectively compared to simulation and 7% and 5%, respectively compared to experiment (MOCAP). The results are particularly important because they foretell future success in advancing this approach to more complex models for human movement. In particular, our future work aims to extend this approach to a 7-body model of the human lower limbs composed of the pelvis, thighs, shanks, and feet.
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