Whole Body Center of Mass Estimation with Portable Sensors: Using the Statically Equivalent Serial Chain and a Kinect

Alejandro González 1 Mitsuhiro Hayashibe 1 Vincent Bonnet 2 Philippe Fraisse 1
1 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The trajectory of the whole body center of mass (CoM) is useful as a reliable metric of postural stability. If the evaluation of a subject-specific CoM were available outside of the laboratory environment, it would improve the assessment of the effects of physical rehabilitation. This paper develops a method that enables tracking CoM position using low-cost sensors that can be moved around by a therapist or easily installed inside a patient's home. Here, we compare the accuracy of a personalized CoM estimation using the statically equivalent serial chain (SESC) method and measurements obtained with the Kinect to the case of a SESC obtained with high-end equipment (Vicon). We also compare these estimates to literature-based ones for both sensors. The method was validated with seven able-bodied volunteers for whom the SESC was identified using 40 static postures. The literature-based estimation with Vicon measurements had a average error 24.9 ± 3.7 mm; this error was reduced to 12.8 ± 9.1 mm with the SESC identification. When using Kinect measurements, the literature-based estimate had an error of 118.4 ± 50.0 mm, while the SESC error was 26.6 ± 6.0 mm. The subject-specific SESC estimate using low-cost sensors has an equivalent performance as the literature-based one with high-end sensors. The SESC method can improve CoM estimation of elderly and neurologically impaired subjects by considering variations in their mass distribution.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01063479
Contributor : Alejandro González <>
Submitted on : Friday, September 12, 2014 - 11:18:14 AM
Last modification on : Thursday, February 28, 2019 - 2:38:23 PM
Long-term archiving on : Saturday, December 13, 2014 - 10:38:09 AM

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Alejandro González, Mitsuhiro Hayashibe, Vincent Bonnet, Philippe Fraisse. Whole Body Center of Mass Estimation with Portable Sensors: Using the Statically Equivalent Serial Chain and a Kinect. Sensors, MDPI, 2014, 14, pp.16955-16971. ⟨http://www.mdpi.com/1424-8220/14/9/16955⟩. ⟨10.3390/s140916955⟩. ⟨lirmm-01063479⟩

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