Abstract—In implementation of walking assistive devices, one major challenge is to detect gait cycle exactly, and then provide assistive force at proper timing in the gait cycle. This paper presents an IMU-based gait detecting algorithm for a wearable walking assistive device. The presented algorithm detects gait cycle by using measured hip velocity and hip angle signals. In addition, it is computationally inexpensive, and thus suitable for real-time applications. Experimental results on two subjects validated the effectiveness of the presented algorithm.
Index Terms—IMU, gait detection, real time, wearable assistive device
The authors are with the School of Engineering, Yanbian University, 133002 Yanji, China (e-mail: jinshanhai@ybu.edu.cn).
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Cite: Shanhai Jin, Changfu Jin, Xiaodan Wang, and Yonggao Jin, "An IMU-Based Gait Detection for a Wearable Walking Assistive Device," International Journal of Modeling and Optimization vol. 6, no. 5, pp. 268-271, 2016.