Proposal and evaluation of the center of gravity estimate method by using the lower limb positional data

We propose a new center of gravity (COG) estimation method for application during walking which uses sensors attached only to the lower limbs. Our method estimates the upper body position by using lower limb position data in order to estimate COG. In this paper, we investigate the feasibility of our method by comparing our method to a commercial COG estimation method during both normal walking and pseudo-hemiplegic walking.