1P1-R11 Motion Estimation Method Using Inertia Sensors Based on the Motion of a Trunk and Legs(Wearable Robotics)

In recent years, some walk-assistive robotic system has been studied and developed, for better human-care or reha- bilitation. Such robotic system should work as human's intension and should not disturb human's natural motion. When considering control of the robotic system, the human's motion estimation becomes very important for such reasons. This paper, thus, proposes an estimation method for human motion of daily living using inertia sensors In the paper, joint angle for hip and knee, and vertical distance is measured by for the motion estimation. Especially, the stepping motion detection is focused in the paper.