García-de-Villa, SaraMunoz Diaz, EstefaniaBousdar Ahmed, DinaJiménez-Martín, AnaGarcía-Domínguez, Juan Jesús2024-01-092024-01-092019-10-03S. G. de Villa, E. Munoz Diaz, D. B. Ahmed, A. Jiménez Martín and J. J. G. Domínguez, "IMU-based Characterization of the Leg for the Implementation of Biomechanical Models," 2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN), Pisa, Italy, 2019, pp. 1-8, doi: 10.1109/IPIN.2019.8911818.2471-917Xhttps://hdl.handle.net/10115/28306The authors would like to thank the Deutschen Zentrums für Luft-und Raumfahrt (DLR) for its collaboration in the measurement campaign, special mention to Dr. Viseras Ruiz, and the borrowing of the necessary infrastructure and equipment. This work was supported partly by Junta de Comunidades de Castilla La Mancha (FrailCheck project SBPLY/17/180501/000392), the Spanish Ministry of Science, Innovation and Universities (MICROCEBUS Project RTI2018-095168-B-C51) and the Youth Employment Program (PEJ- 2017-AI/TIC-7372). © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Copyright Owner: IEEEThe main limitation of using inertial measurement units (IMUs) for inertial navigation systems (INS) is the accumulated error in the heading angle estimation. Different approaches have been proposed to reduce the position error caused by the heading drift, but accurate biomechanical models have not been explored in INS. A precise leg characterization method is needed to develop INS-oriented biomechanical models. The main goal of this work is to evaluate an IMU-based method to locate the leg joint centers and axes, and to estimate the leg segment lengths. These leg parameters are required for the implementation of lower-limb biomechanical models. Four different versions of the method are implemented and compared using a stereo- photogrammetric system as gold standard. The method validation is conducted in four volunteers by doing five exercises. The calibration exercises involve five different leg movements. The proposed method shows an average accuracy of 2 cm and 3 cm over 21cm and 54 cm in joint centers and axes determination, respectively. In the estimation of the leg segment lengths, the average accuracy of the proposed method is 2 cm over 39 cm. The proposed method brings promising results improving the estimations of the state-of-the-art methods.engSensorsAccelerationLegged locomotionBiological system modelingBiomechanicsIMUINSLeg characterizationBiomechanical modelinfo:eu-repo/semantics/conferenceObject10.1109/IPIN.2019.8911818info:eu-repo/semantics/embargoedAccess