Trunk orientation estimate during walking using gyroscope sensors

This study proposes the use of a combination of Weighted Fourier Linear Combiner and Fourier Linear Combiner algorithms to estimate lower trunk orientation angles during walking using the three angular velocity components measured by an inertial measurement unit. The proposed method enables the determination in real-time of the rotations around three local orthogonal axes defined relative to their initial orientations (pitch, roll, and yaw). Since the method is based on the analytical integration of a Fourier series, it is suitable for the analysis of quasi-periodic movements such as gait.