Multi-axis tilt estimation and fall remediation

摘要

Among other things, a vestibular prosthesis includes a wearable motion sensing system, the motion sensing system generating a motion signal indicative of a motion thereof, wherein the motion includes rotation about two distinct axes; a signal processor in communication with the motion sensing system, the signal processor being configured to generate an estimate of a tilt of the motion sensing system; and an actuator responsive to the estimate of the tilt made by the signal processor.

主权项

1. A method comprising:
representing a state of a subject wearing a prosthesis as a set of parameters comprising:
biases associated with at least one gyro and at least one accelerometer of the prosthesis,at least one angular rate associated with the subject, anda quaternion representing rotation of the subject with respect to a coordinate system,wherein each of the biases and the at least one angular rate is modeled as first order Markov processes; and generating, using a Kalman filter, an estimate of a tilt of the subject based on selected values of the parameters and outputs from the at least one gyro and the at least one accelerometer.