Development of motion capture system using wireless inertial sensors and its test in application to rehabilitation

• Project/Area Number: 24650343
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Single-year Grants
• Research Field: Rehabilitation science/Welfare engineering
• Research Institution: Tohoku University
• Principal Investigator: WATANABE TAKASHI 東北大学, 大学院医工学研究科, 教授 (90250696)
• Project Period (FY): 2012-04-01 – 2014-03-31
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000); Fiscal Year 2012: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
• Keywords: 慣性センサ / 角速度 / 加速度 / 歩行 / 角度 / リハビリ / リハビリテーション / カルマンフィルタ / 可視化

Research Abstract

A prototype system of motion capture system using wireless inertial sensors was developed. Three dimensional motion measurement method was also developed and tested with the developed prototype system. Measurements of gait with healthy and motor disabled subjects showed that the developed system and the motion measurement method were useful. Furthermore, the developed system and the measurement method were modified based on problems found in the measurement tests. It was expected that the system would be applied practically to rehabilitation.

Research Products

• [Journal Article] A Basic Study on a Method of Evaluating 3-dimentional Foot Movements in Walking (2014)
  • Author(s): Maho Shiotani, and Takashi Watanabe
  • Journal Title: Proc. IEEE-EMBS Int. Conf.Biomedical and Health Informatics Volume: (印刷中)
  • Peer Reviewed
• [Journal Article] 慣性センサを用いた下肢角度計測に関する検討～健常者での通常歩行およびぶん回し歩行による評価～ (2014)
  • Author(s): 照山裕太,渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: Vol.113, No.499 Pages: 19-24
• [Journal Article] Angle Measurements During 2D and 3D Movements of a Rigid Body Model of Lower Limb : Comparison between Integral-based and Quaternion-based Methods (2014)
  • Author(s): Takashi Watanabe, Kento Ohashi
  • Journal Title: Proc. 7th Int. Conf. Bio-inspired Systems and Signal Processing Pages: 35-44
  • Peer Reviewed
• [Journal Article] Measurement of Gait Movements of a Hemiplegic Subject with Wireless Inertial Sensor System before and after Robotic-assisted Gait Training in a Day (2014)
  • Author(s): Takashi Watanabe, Jun Shibasaki
  • Journal Title: IFMBE Proceedings Volume: Volume 41 Pages: 1730-1733
  • DOI: 10.1007/978-3-319-00846-2_427
  • ISBN: 9783319008455, 9783319008462
  • Peer Reviewed
• [Journal Article] Angle Measurements During 2D and 3D Movements of a Rigid Body Model of Lower Limb: Comparison between Integral-based and Quaternion-based Methods (2014)
  • Author(s): Takashi Watanabe, Kento Ohashi
  • Journal Title: Proceedings of the 7th International Conference on Bio-inspired Systems and Signal Processing Volume: － Pages: 35-44
  • Peer Reviewed
• [Journal Article] 慣性センサを用いた下肢角度計測に関する検討 ～健常者での通常歩行およびぶん回し歩行による評価～ (2014)
  • Author(s): 照山裕太，渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: 113(499) Pages: 19-24
• [Journal Article] A Basic Study on a Method of Evaluating 3-dimentional Foot Movements in Walking (2014)
  • Author(s): Maho Shiotani, and Takashi Watanabe
  • Journal Title: Proceedings of IEEE-EMBS International Conferences on Biomedical and Health Informatics Volume: －
  • Peer Reviewed
• [Journal Article] Movement Change Induced by Voluntary Effort with Low Stimulation Intensity FES-assisted Dorsiflexion: A Case Study with a Hemiplegic Subject (2013)
  • Author(s): Takashi Watanabe, Shun Endo, Katsunori Murakami, Yoshimi Kumagai, and Naomi Kuge
  • Journal Title: Proceedings of ｔhe 6th International IEEE EMBS Conference on Neural Engineering Volume: － Pages: 327-330
  • DOI: 10.1109/ner.2013.6695938
  • Peer Reviewed
• [Journal Article] Effectiveness of Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals in Lower Limb Angle Measurement with Inertial Sensors (2013)
  • Author(s): Yuta Teruyama and Takashi Watanabe
  • Journal Title: Computational and Mathematical Methods in Medicine Volume: Volume 2013 Pages: 1-12
  • DOI: 10.1155/2013/398042
  • Peer Reviewed
• [Journal Article] Experimental Evaluation of Balance Prediction Models for Sit-to-Stand Movement in the Sagittal Plane (2013)
  • Author(s): Oscar David Pena Cabra, Takashi Watanabe
  • Journal Title: Computational and Mathematical Methods in Medicine Volume: Volume 2013 Pages: 1-9
  • DOI: 10.1155/2013/592328
  • Peer Reviewed
• [Journal Article] A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors (2013)
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Journal Title: Conf. the IEEE Engineering in Medicine and Biology Society Volume: Proc. 35th Ann. Int. Pages: 3423-3426
  • DOI: 10.1109/embc.2013.6610277
  • Peer Reviewed
• [Journal Article] A Trial of Making Reference Gait Data for Simple Gait Evaluation System with Wireless Inertial Sensors (2013)
  • Author(s): Yuta Karasawa, Yuta Teruyama, Takashi Watanabe
  • Journal Title: Conf. the IEEE Engineering in Medicine and Biology Society Volume: Proc. 35th Ann. Int. Pages: 3427-3430
  • DOI: 10.1109/embc.2013.6610278
  • Peer Reviewed
• [Journal Article] A Measurement of Lower Limb Angles Using Wireless Inertial Sensors during FES Assisted Foot Drop Correction with and without Voluntary Effort (2013)
  • Author(s): Takashi Watanabe
  • Journal Title: International Journal of Bioscience, Biochemistry and Bioinformatics Volume: 3(3) Pages: 216-220
  • DOI: 10.7763/ijbbb.2013.v3.199
  • Peer Reviewed
• [Journal Article] A Validation Test of Measurement Method of Lower Limb Angles based on Kalman Filter on Different Type of Inertial Sensors (2013)
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Journal Title: Int. J. Bioscience, Biochemistry and Bioinformatics Volume: Vol.3, No.3 Pages: 211-215
  • DOI: 10.7763/ijbbb.2013.v3.198
  • Peer Reviewed
• [Journal Article] 慣性センサを用いた下肢3次元運動の計測に関する検討～剛体リンクモデルによる評価～ (2013)
  • Author(s): 大橋研斗,渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: Vol.112, No.479 Pages: 69-74
• [Journal Article] 慣性センサを用いた下肢3次元運動の計測に関する検討 ～剛体リンクモデルによる評価～ (2013)
  • Author(s): 大橋研斗，渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: 112(479) Pages: 69-74
• [Journal Article] A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors (2013)
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Journal Title: Proc. 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Volume: 印刷中
  • Peer Reviewed
• [Journal Article] A Trial of Making Reference Gait Data for Simple Gait Evaluation System with Wireless Inertial Sensors (2013)
  • Author(s): Yuta Karasawa, Yuta Teruyama, Takashi Watanabe
  • Journal Title: Proc. 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Volume: 印刷中
  • Peer Reviewed
• [Journal Article] カルマンフィルタを用いた慣性センサによる下肢角度計測法の精度改善に関する検討 (2012)
  • Author(s): 照山裕太,渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: Vol. 112, No. 297 Pages: 11-16
  • NAID: 110009642322
• [Journal Article] カルマンフィルタを用いた慣性センサによる下肢角度計測法の精度改善に関する検討 (2012)
  • Author(s): 照山裕太，渡邉高志
  • Journal Title: 電子情報通信学会技術研究報告 Volume: 112(297) Pages: 11-16
  • NAID: 110009642322
• [Presentation] A Basic Study on a Method of Evaluating 3-dimentional Foot Movements in Walking (2014)
  • Author(s): M. Shiotani, and T. Watanabe
  • Organizer: IEEE-EMBS Int. Conf. Biomedical and Health Informatics
  • Place of Presentation: スペイン・バレンシア
  • Year and Date: 2014-06-03
• [Presentation] 慣性センサを用いた下肢角度計測に関する検討～健常者での通常歩行およびぶん回し歩行による評価～ (2014)
  • Author(s): 照山裕太,渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 町田
  • Year and Date: 2014-03-17
• [Presentation] A Basic Study on Evaluation of Ankle Dorsiflexion by Measurment in Sitting Position for FES-Assited Foot Drop Correction (2014)
  • Author(s): M. Shiotani, T. Watanabe, K. Murakami, Y. Kumagai, N. Kuge
  • Organizer: The Joint Symp. 8th Int. Symposium on Medical, Bio- and Nano-Electronics, and 5th Int. Workshop on Nanostructures & Nanoelectronics
  • Place of Presentation: 仙台
  • Year and Date: 2014-03-06
• [Presentation] Angle Measurements During 2D and 3D Movements of a Rigid Body Model of Lower Limb : Comparison between Integral-based and Quaternion-based Methods (2014)
  • Author(s): T. Watanabe, K. Ohashi
  • Organizer: 7th Int. Conf. on Bio-inspired Systems and Signal Processing
  • Place of Presentation: フランス・アンジェ
  • Year and Date: 2014-03-03
• [Presentation] A basic Study on Evaluation of 3 dimentional foot movement for FES-assisted foot drop correction (2014)
  • Author(s): M. Shiotani, T. Watanabe, S. Endo, K. Murakami, Y. Kumagai, and N. Kuge
  • Organizer: Inovative Research for Biosis-Abiosis Intelligent Interface Symp.
  • Place of Presentation: 仙台
  • Year and Date: 2014-01-21
• [Presentation] Angle Measurements During 2D and 3D Movements of a Rigid Body Model of Lower Limb: Comparison between Integral-based and Quaternion-based Methods (2014)
  • Author(s): Takashi Watanabe, Kento Ohashi
  • Organizer: 7th International Conference on Bio-inspired Systems and Signal Processing
  • Place of Presentation: Angers, France
• [Presentation] A Basic Study on Evaluation of Ankle Dorsiflexion by Measurment in Sitting Position for FES-Assited Foot Drop Correction (2014)
  • Author(s): M. Shiotani, T. Watanabe, K. Murakami, Y. Kumagai, N. Kuge
  • Organizer: The Joint Symposium of 8th International Symposium on Medical, Bio- and Nano-Electronics, and 5th International Workshop on Nanostructures & Nanoelectronics
  • Place of Presentation: 仙台市
• [Presentation] 慣性センサを用いた下肢角度計測に関する検討 ～健常者での通常歩行およびぶん回し歩行による評価～ (2014)
  • Author(s): 照山裕太，渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 町田市
• [Presentation] A Basic Study on a Method of Evaluating 3-dimentional Foot Movements in Walking (2014)
  • Author(s): Maho Shiotani, and Takashi Watanabe
  • Organizer: IEEE-EMBS International Conferences on Biomedical and Health Informatics 2014
  • Place of Presentation: Valencia, Spain
• [Presentation] 片麻痺者のFESによる下垂足歩行矯正における足部動作3次元解析に関する基礎的検討 (2013)
  • Author(s): 塩谷真帆,渡邉高志,遠藤駿.村上克徳,熊谷芳美,久家直巳
  • Organizer: 第34回バイオメカニズム学術講演会
  • Place of Presentation: 所沢
  • Year and Date: 2013-11-16
• [Presentation] Movement Change Induced by Voluntary Effort with Low Stimulation Intensity FES-assisted Dorsiflexion : A Case Study with a Hemiplegic Subject (2013)
  • Author(s): T. Watanabe, S. Endo, K. Murakami, Y. Kumagai, and N. Kuge
  • Organizer: The 6th Int. IEEE EMBS Conf. Neural Engineering
  • Place of Presentation: アメリカ・サンディエゴ
  • Year and Date: 2013-11-06
• [Presentation] Measurement of Gait Movements of a Hemiplegic Subject with Wireless Inertial Sensor System before and after Robotic-assisted Gait Training in a Day (2013)
  • Author(s): T. Watanabe, J. Shibasaki
  • Organizer: The XIII Mediterranean Conf. Med. and Biolog. Eng. and Comput.
  • Place of Presentation: スペイン・セビリア
  • Year and Date: 2013-09-26
• [Presentation] A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors (2013)
  • Author(s): Y. Teruyama, T. Watanabe
  • Organizer: 35th Ann. Int. Conf. the IEEE Eng. Med. and Biology Soc.
  • Place of Presentation: 大阪
  • Year and Date: 2013-07-05
• [Presentation] A Trial of Making Reference Gait Data for Simple Gait Evaluation System with Wireless Inertial Sensors (2013)
  • Author(s): Y. Karasawa, Y. Teruyama, T. Watanabe
  • Organizer: 35th Ann. Int. Conf. the IEEE Eng. Med. and Biology Soc.
  • Place of Presentation: 大阪
  • Year and Date: 2013-07-05
• [Presentation] A Preliminary Study on Analyzing 3-Dimentional Foot Movements in 10 m Walking with FES-Assisted Foot Drop Correction (2013)
  • Author(s): M. Shiotani, T. Watanabe
  • Organizer: 35th Ann. Int. Conf. the IEEE Eng. Med. and Biology Soc.
  • Place of Presentation: 大阪
  • Year and Date: 2013-07-05
• [Presentation] Measurement and Control of Lower Limb Movements for Gait Rehabilitation of Hemiplegic Subjects (2013)
  • Author(s): T. Watanabe
  • Organizer: 5th Int. Conf. Bioinf. and Biomed. Tech.
  • Place of Presentation: 中国・マカオ
  • Year and Date: 2013-03-18
• [Presentation] A Validation Test of Measurement Method of Lower Limb Angles based on Kalman Filter on Different Type of Inertial Sensors (2013)
  • Author(s): Y. Teruyama, T. Watanabe
  • Organizer: 5th Int. Conf. Bioinf. and Biomed. Tech.
  • Place of Presentation: 中国・マカオ
  • Year and Date: 2013-03-18
• [Presentation] 慣性センサを用いた下肢3次元運動の計測に関する検討～剛体リンクモデルによる評価～ (2013)
  • Author(s): 大橋研斗・渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 町田
  • Year and Date: 2013-03-14
• [Presentation] A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors (2013)
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Organizer: 35th Annual Conference of the IEEE EMBS
  • Place of Presentation: 大阪
• [Presentation] A Trial of Making Reference Gait Data for Simple Gait Evaluation System with Wireless Inertial Sensors (2013)
  • Author(s): Yuta Karasawa, Yuta Teruyama, Takashi Watanabe
  • Organizer: 35th Annual Conference of the IEEE EMBS
  • Place of Presentation: 大阪
• [Presentation] 無線型慣性センサによる簡易歩行評価システムに関する検討 : 健常者の普通歩行の計測による基準データの作成 (2012)
  • Author(s): 柄澤勇太,照山裕太,遠藤駿,渡邉高志
  • Organizer: 第33回バイオメカニズム学術講演会
  • Place of Presentation: 仙台
  • Year and Date: 2012-12-15
• [Presentation] 慣性センサを用いた下肢3次元運動の角度計測に関する検討 : 剛体リンクモデルによる基礎的評価 (2012)
  • Author(s): 大橋研斗,渡邉高志
  • Organizer: 第46回日本生体医工学会東北支部大会
  • Place of Presentation: 仙台
  • Year and Date: 2012-11-17
• [Presentation] カルマンフィルタを用いた慣性センサによる下肢角度計測法の精度改善に関する検討 (2012)
  • Author(s): 照山裕太,渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 仙台
  • Year and Date: 2012-11-16
• [Presentation] 頚髄梗塞者へのHybrid Assistive Limb (HAL)を用いた歩行練習が歩容の改善を認めた一例 (2012)
  • Author(s): 芝崎淳,渡邉高志
  • Organizer: 第47回日本脊髄障害医学会
  • Place of Presentation: 静岡
  • Year and Date: 2012-10-25
• [Presentation] A Preliminary Test of Lower Limb Joint Moment Estimation Method without Ground Reaction Force using Inertial Sensors (2012)
  • Author(s): T. Watanabe, H. Mori, and T. Suzuki
  • Organizer: 34th Ann. Conf. the IEEE EMBS
  • Place of Presentation: アメリカ・ボストン
  • Year and Date: 2012-08-30
• [Presentation] A Study on Wearable Sensor System for Simple Gait Evaluation in Rehabilitation : Tests of Stride Length Measurement with Neurologically Intact Subjects (2012)
  • Author(s): K. Nitta, T. Watanabe
  • Organizer: 第51回日本生体医工学会大会
  • Place of Presentation: 博多
  • Year and Date: 2012-05-12
• [Presentation] A Test of the Kalman-filtering-based Angle Measurement Method in Using Wireless and Wired Inertial Sensors (2012)
  • Author(s): Y. Teruyama, T. Watanabe
  • Organizer: 第51回日本生体医工学会大会
  • Place of Presentation: 博多
  • Year and Date: 2012-05-10
• [Presentation] A Basic Study on Variable-Gain Kalman Filter based on Angle Error Calculated from Acceleration Signals for Lower Limb Angle Measurement with Inertial Sensors
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Organizer: 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: 大阪市
• [Presentation] A Trial of Making Reference Gait Data for Simple Gait Evaluation System with Wireless Inertial Sensors
  • Author(s): Yuta Karasawa, Yuta Teruyama, Takashi Watanabe
  • Organizer: 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: 大阪市
• [Presentation] A Preliminary Study on Analyzing 3-Dimentional Foot Movements in 10 m Walking with FES-Assisted Foot Drop Correction
  • Author(s): Maho Shiotani, Takashi Watanabe
  • Organizer: 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: 大阪市
• [Presentation] Measurement of Gait Movements of a Hemiplegic Subject with Wireless Inertial Sensor System before and after Robotic-assisted Gait Training in a Day
  • Author(s): Takashi Watanabe, Jun Shibasaki
  • Organizer: The XIII Mediterranean Conference on Medical and Biological Engineering and Computing 2013
  • Place of Presentation: Sevilla, Spain
• [Presentation] Movement Change Induced by Voluntary Effort with Low Stimulation Intensity FES-assisted Dorsiflexion: A Case Study with a Hemiplegic Subject
  • Author(s): Takashi Watanabe, Shun Endo, Katsunori Murakami, Yoshimi Kumagai, and Naomi Kuge
  • Organizer: The 6th International IEEE EMBS Conference on Neural Engineering
  • Place of Presentation: San Diego, U.S.A.
• [Presentation] 片麻痺者のFESによる下垂足歩行矯正における足部動作3次元解析に関する基礎的検討
  • Author(s): 塩谷真帆，渡邉高志，遠藤 駿．村上克徳，熊谷芳美，久家直巳
  • Organizer: 第34回バイオメカニズム学術講演会
  • Place of Presentation: 所沢市
• [Presentation] A basic Study on Evaluation of 3dimentional foot movement for FES-assisted foot drop correction
  • Author(s): Maho Shiotani, Takashi Watanabe, Shun Endo, Katsunori Murakami, Yoshimi Kumagai, and Naomi Kuge
  • Organizer: Inovative Research for Biosis-Abiosis Intelligent Interface Symposium
  • Place of Presentation: 仙台市
• [Presentation] A Test of the Kalman-filtering-based Angle Measurement Method in Using Wireless and Wired Inertial Sensors
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Organizer: 第51回日本生体医工学会大会
  • Place of Presentation: 博多
• [Presentation] A Study on Wearable Sensor System for Simple Gait Evaluation in Rehabilitation: Tests of Stride Length Measurement with Neurologically Intact Subjects
  • Author(s): Kazuki Nitta, Takashi Watanabe
  • Organizer: 第51回日本生体医工学会大会
  • Place of Presentation: 博多
• [Presentation] A Preliminary Test of Lower Limb Joint Moment Estimation Method without Ground Reaction Force using Inertial Sensors
  • Author(s): Takashi Watanabe, Hiroaki Mori, and Tatstuto Suzuki
  • Organizer: 34th Annual Conference of the IEEE EMBS
  • Place of Presentation: San Diego, U.S.A.
• [Presentation] 頚髄梗塞者へのHybrid Assistive Limb (HAL)を用いた歩行練習が歩容の改善を認めた一例
  • Author(s): 芝崎 淳，渡邉高志
  • Organizer: 第47回日本脊髄障害医学会
  • Place of Presentation: 静岡
• [Presentation] カルマンフィルタを用いた慣性センサによる下肢角度計測法の精度改善に関する検討
  • Author(s): 照山裕太，渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 仙台
• [Presentation] 慣性センサを用いた下肢3 次元運動の角度計測に関する検討：剛体リンクモデルによる基礎的評価
  • Author(s): 大橋研斗，渡邉高志
  • Organizer: 第46回日本生体医工学会東北支部大会
  • Place of Presentation: 仙台
• [Presentation] 無線型慣性センサによる簡易歩行評価システムに関する検討： 健常者の普通歩行の計測による基準データの作成
  • Author(s): 柄澤勇太，照山裕太，遠藤 駿，渡邉高志
  • Organizer: 第33回バイオメカニズム学術講演会
  • Place of Presentation: 仙台
• [Presentation] 慣性センサを用いた下肢3次元運動の計測に関する検討 ～剛体リンクモデルによる評価～
  • Author(s): 大橋研斗・渡邉高志
  • Organizer: MEとバイオサイバネティックス研究会
  • Place of Presentation: 町田
• [Presentation] Measurement and Control of Lower Limb Movements for Gait Rehabilitation of Hemiplegic Subjects
  • Author(s): Takashi Watanabe
  • Organizer: 5th International Conference on Bioinformatics and Biomedical Technology
  • Place of Presentation: Macau, China
  • Invited
• [Presentation] A Validation Test of Measurement Method of Lower Limb Angles based on Kalman Filter on Different Type of Inertial Sensors
  • Author(s): Yuta Teruyama, Takashi Watanabe
  • Organizer: 5th International Conference on Bioinformatics and Biomedical Technology
  • Place of Presentation: Macau, China