Acquisition system for data analysis of gait with lower limb prostheses - ANDAR

This paper describes the implementation of a gait analysis device used to measure the use of prosthesis by lower limb amputated subjects. Based on dead-reckoning sensors only (two accelerometers, one gyroscope and pressure sensors, all solid state), it is used to compute the travelled distance, number of steps, motion speed, leg aperture and related parameters from which assessment of comfort and patient adaptation to the prosthesis can be derived. The core of the real-time data processing set of algorithms is a Kalman filter, as here described, together with some results