Sparse Calibration-Based Personalization of Kernel-Based Gait Phase and Speed Estimation Using Wearable IMUs

Abstract:This paper presents sparse calibration-based personalization for kernel-based gait phase and walking speed co-estimation from wearable inertial measurement units (IMUs). A 28-speed reference library was constructed from bilateral thigh and shank trajectories in a 20-subject locomotion dataset. Rather than directly applying population-average kernels, the method combines a user-specific baseline estimated from three calibration speeds with a principal-component (PC) model of baseline-centered kinematic deviations. Offline validation showed that personalized kernels reduced phase error relative to the population kernel. In a single-participant online pilot evaluation, the personalized kernels produced numerically lower mean phase and speed errors and ran in real time on embedded hardware. However, the speed effect was not significant, and pairwise phase differences did not remain significant after multiple-comparison correction. The pilot evaluation establishes wearable implementation feasibility while indicating reference-to-online dataset mismatch and the need for larger-cohort validation.

Robotics (cs.RO)

arXiv:2610.03931 [cs.RO]

(or arXiv:2610.03931v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.03931 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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