Prototype for the Estimation and Evaluation of
Walking Velocity Using Acceleration Transducers
Tondo, F., Salerno, L.
Electronics and Engineering Department
University at Caxias doSul - UCS
Bento Gonçalves, Rio Grande do Sul, Brazil
felipeatondo@gmail.com,
lucianosalerno75@gmail.com
Abstract—This work proposes the development of an
electronic prototype with a low cost, based on the utilization of
acceleration micro-electric-mechanical sensors (MEMS) which
make possible to obtain the biomechanical information from
movements when walking and so permit to obtain estimation
about the average velocity. The system which has been put in
practice captures the information from the sensors through the
micro-controller and sends them through an intuitive interface,
designed in the GUIDE environment of Matlab software. With
the intention of validating the developed prototype it was
proposed a new methodology in order to calculate the walking
velocity, however, in this phase are used platforms which were
certified acquired, developed by National Instruments and which
have direct connection with the LabVIEW environment. Twenty
tests were made simulating the walking using an ergometric
treadmill with two different velocities, obtaining for the first
prototype an estimated average error of 2.66% and 3.19% (1st
and 2nd Velocities, respectively) and with the validation prototype
an error of 1.38% and 2.25% from the acquisitions.
Keywords—MEMS accelerometer, ATMega 2560 Arduino,
Matlab, NI SCXI 1000 Chassis, PCI 6072 and LabVIEW.
I. INTRODUCTION
The proposed work here implements a prototype which use
two accelerator sensors fixed on the leg in order to obtain an
estimation of walking velocity of human beings. Since the
system has to work not only with electronic devices, first of
all, it was necessary to study human cinematic movement as
well as to what is the proper methodology that has to be used
for the acceleration analysis when waking with the pace of a
regular walking..
In the next chapters will be approached the constructive
methods for the prototype. Chapter III has been split in four
stages: the first one makes part of a presentation of the
mathematical model applied to the feedback from the sensors;
the second one refers to the mechanical, electrical (Hardware)
and intuitive (Software) materials used when assembling the
prototype; the third stage is the experimental technology of
tests, that is it, it makes possible to compare the implemented
prototype as well as the validation device, it was necessary to
use a walking treadmill and to know, starting from a
calculation what is the real velocity of the individual who is
moving on the equipment; in the fourth stage it was applied an
978-1-4673-6386-0/14/$31.00 ©2014 IEEE
Becker, R.
University at Caxias doSul - UCS
Bento Gonçalves, Rio Grande do Sul, Brasil
SENAI Technical College, Porto Alegre
Porto Alegre, Rio Grande doSul, Brazil
rbecker1@ucs.br, ricardo.becker@senairs.org.br
statistic comparative analysis of the used devices and twenty
simulations.
II. BIBLIOGRAPHIC REFERENCES
Every person exerts a movement which follows a standard
(style) or even a repetitive continuity of such process [1] [2]
[3]. Therefore, can be established the recognition of an
individual because of the way of walking as well as the
personality through an analysis of the rhythm that the person
uses when walking.
Two of the physical magnitudes that can be monitored
through the acceleration sensors and spin are the linear
acceleration and the angular velocity with which is possible
the calculation of velocity, linear movement and the rotation
angles during the walking movement [4] [5].
The accelerometer has a significant less consumption of
energy than gyroscopes and, besides that it is trustworthy
when considering a measurement with a lower level of
variation along time [6]. Bruxel, Zaro, Palhano, Avila and
Strohaecker [2], studied the choosing of the proper parameters
when obtaining the data to apply to tibialaccelerometry. It is
possible to say, according to [2] [7], that the contribution of
energy of each component of the signal, it is proportional to
the square of the spectrum of frequencies (|F(w)|2). The total
energy is the summation of energy in each band of frequency
and it is indicated by the total area under the curve. It is called
as spectral density of the power of signal (DEP or PSD), it
makes possible to evaluate what of frequencies that are on the
signal carry the biggest amount of energy.
Figure 1 introduces the proposed model in the study carried
out by Shuozhi Yang and Quingguo Li [8], where were
characterized twelve different positions in order to relate them
to the position where the accelerometer(s) is (are) installed
with the respective magnitudes to be measured. With the
attention focused for the calculation of walking velocity, in
this model the authors classify the fixation place with the
acceleration and/or the angular velocity besides of choosing
three types of sensors: the one-dimensional (uniaxial), two-
dimensional (biaxial) and three-dimensional (triaxial). In this
work the walking rod will be assembled with acrylic material
and fixed exactly with its center on the place (S2) indicated in
the model.
 acceleration. With based on this theory it is possible to
calculate the walking velocity obtaining the acceleration
information measured by the sensors and the continuous value
of the angle that they form. Figure 2 shows the method which
is the foundation for the calculation of all necessary variables
in this project.
The angular acceleration of leg α (t) can be calculated
using the difference between the tangential signals from
sensors 2 and 1, respectively at2(t) and at1(t), measured by the
accelerometers, being (1) the representation of angular system:

  −
 

 = (1)

For [4], it is assumed that the angular velocity of rod w(t)

can be incorporated to the system, making part of the angular
acceleration according (2):

Figure1: Fixation of Accelerometer, position, magnitude and type

of sensor. Axial description of twelve different positions.

According to what specifies in [9], one of the important

points to analyze the walking are the special and temporal
parameters: length of steps, the pace and the walking velocity.
These parameters apply to make the diagnoses of possible
changes in the analysis of walking or even in the analysis of
the techniques used to calculate the walking velocity. Table I
shows references which are related to the studied positions.
TABLE I.
TABLE RELATED TO THE FIGURE 1
References
Position
1 2 3
C1 [10]1
B1 [11] [12] [6] Figure2: Two units IMU(s) fixed inthe leg.
Th1 [13]
Th2 [14] [11] 
S1 [15]  =  ατ dτ + ω0 (2)
S2 [14] [16] 
F1 [17] [18]
F2 [9] Radial acceleration signals an(t) and the tangential
F3 [19] acceleration at(t), being transferred to accelerations of ax(t)
F4 [20] [21] anday(t), can be related according to the angle of leg related to
H1 [12] [22]
H2 [19]
the axis y and the acceleration of gravity
“g”, according (3) and (4):
1

  =   sin  −   cos 

Works cited as bibliographic references of the document.
(3)
  
III. METHODS
A. Cinematic Modeling of Movement   =   cos  −   sin  −  (4)

According to E. Bishop and Q. Li [4] [16], instead of Considering the angle of leg θ (t),according to [4], can be
estimating indirectly special parameters, one alternative is to mapped including the angular velocity w(t), as it is shown in
determine the movements using the time included in the (5):
measured accelerations. Thus, acceleration measures are !
necessary and to know at each given moment the angle of the  =    " + 0 (5)
device in relation to the gravity to subtract the gravitational 
 When the momentum isθ (0), it is possible to accept this
value for the initial angle of the rod before to be included. In
order to calculate the movements along the horizontal line of
Cartesian plane and the coordinates of vertical axes, the signal
of accelerations ax (t) and ay (t) can be reorganized according
to velocitiesVx (t) andVy (t), which correspond to the global
system of coordinates shown in (6) and (7):


#  =    " + $ 0 (6)



#  =    " + $ 0 (7)


The variables Vx (0) and Vy(0) are the initial condition of

horizontal and vertical velocities. Through the integration of
velocities Vx (t) e Vy(t), it was possible to obtain the
horizontal movement, Sx (t), and the vertical movementSy(t).

 Figure 3: Methodology - Block Diagram.

%  =  #  " + % 0 (8)
Stage 1 is formed by the monitoring of movement. From

all manufacturers and types of available accelerometers the
 device which will be used is the three-axial acceleration sensor
%  =  #  " + % 0 (9) with a sensibility of ±2/±6 g, MEMS LIS344ALH [23].
 The second stage is compounded by the analogic signal
Integrating(5), (6), (7), (8), (9), it was possible to obtain received from sensors. In order to it possible that the
the first calculation of the horizontal and vertical movements. information of the resulting signal of movement can be
The average horizontal acceleration is shown in (10): standardized and adjusted for a transmission, it is necessary to
use an analogic digital converter; in this case it is used the
 = '# ( − # 0)/(
&&& (10) development kit of Aruino2560, which unit uses a 10 bits
converter with Atmel®AVR® 8-Bits [24].
In (11) it is possible to see the contribution for the Stage 3 receives the digital signals coming from the
estimative calculation of horizontal movement and its previous stage via serial port and storage it in the memory
respective contribution to the estimative calculation of vertical these information.
movement where is applied the same concept with everything Stage 4 is responsible by applying the information of the
that relates to the y axis. third stage in the mathematical modeling suggested and thus to
calculate the average velocity observed during the simulation
1 1
&&&
of one of the cycles of walking. One cycle of it starts in the
% =   = ( ∗ # (
&&&( (11)
2  2 instant when the heel of foot touches the ground and it ends at
the moment when it returns to the ground [25], starting from
With these data, the length of steps (ST) can be described this it was possible to obtain, for angular and tangential
by (12) as being: accelerations (the regular ones) of rod the respective signals as
shown in Figure 4.
&&&  + '%
%( = .% &&&
)
 (12) In order to calculate the final velocity of the individual it is
enough to follow the suggested mathematical modeling,
Obtaining the length of step, it is possible calculating the however, it wasn´t possible yet to prove the truth of the
average walking velocity V (T) using the unit m/s for each acquired information from the prototype. Therefore, it was
cycle of the step in (13). made the option of adding one more stage to the methodology
%(
of the project.
#( = / 0 (13) Stage 5 refers to platforms with specific items and
( certification for working with acceleration sensors so the
B. Methodology of Project equipment used in the methodology of the project and
constructed with a new rod for the movement. Hardware
The methodology used to build the prototype (see the includes SCXI Chassis – 1000 [26], the module NI SCXI –
block diagram of Figure 3) was split in four different 1530 [27], the acquisition plate NI PCI – 6072 [28] and the tri-
constructive stages. The stage number five makes reference to axial piezoelectric 65-100 [29], [30] used for the comparing
the prototype validation.
and validation for the mathematical modeling as well as the D. Analysis of the Acquired Information
obtained feedback of the prototype.
The estimated value by the prototype was obtained taking
Tangencial Acceleration (m/s )

20
in account the twenty different simulations executed with the
2

Accelerometer Lower
15
Accelerometer Above same individual. This number of samples was empirically
10
determined for the project since E. Bishop´s works and Q. Li´s
5
works [4] have together with other bibliographic references
0

-5
[2] [32] [16],which use similar values from fifteen to eighteen
-10
walking simulations.
-15
Balbinot and Brusamarello [33] assume that data follow a
-20
familiar curve in the area of science and technology being
-25 called curve of normal distribution which makes it possible the
0 100 200 300 400 500 600 700 800 900 1000
verification of frequency of what happens considering a given
5
datum and the measurement of data distortion. To calculate
Normal Acceleration (m/s )
2

Accelerometer Lower
Accelerometer Above
0 the data dispersion measurement the used properties are the
-5 variance σ? and the standard deviationσ
?, shown in (15).

? Standard Deviation% = H.I "9  /JJ − 1K

σ (15)
-10

-15

-20 The analysis of data is made considering the calculation of

-25
0 100 200 300
Number of Samples Collected - 1 Gait Cycle
Figure4: Tangential and Regular acceleration of prototype.
C. Experimental Methodology
The methodology of tests is based on a simulation of
walking executed on a treadmill. Starting from the principle
with two different possible velocity controls for the equipment
and not knowing the value of the real average velocity of the
individual on the treadmill it was developed a method for the
measure with the intention of obtain the value of the average
velocity.
The system is formed by the average angular velocity
(rpm) taken from a digital tachometer [31] at the exact
moment when the individual is moving on the treadmill. Using
the radius of moving cylinder of conveyor belt of the
equipment was use the following equation for the final
average velocity of the machine:
the average of the twenty executed tests as well as the variance
400 500 600 700
800 900 1000
and the average standard deviation of the acquisitions. The
estimated error was obtained by comparing the calculated
average velocity with the calculation of the uncertainness
included in the whole process of acquisitions.
IV. RESULTS
Result of Step 3, the software developed in Matlab is
responsible for communication, reception and application of
mathematical model of the prototype. Figure 5 illustrates the
GUIDE window with the user, so one can store the
information of the four axes of the sensors, as well as apply
and view the respective signals of the steps walk.

2
# 1 4 = #
52 ∗ 26 × 89: 2<<
/60
(14)
3
The experimental methods used in this work can be split in
two different groups. The first one is related to the real
velocity measured on the treadmill, that is, with Equation 14 it
was measured the real theoretical performance that the
individual has in the two possible different options when
moving on the equipment and so, obtaining 2.45 m/s for the
first value and 3.56 m/s for the second value.
Making part of the second group of the experimental
Figure 5: Matlab Software of Estimated Walking Speed.
model, the reached final velocity of the implemented
prototype as well as the equivalent device for the validation The consequences of the experimental methodology used
stage suggested in the project. Units MEM´S in all tests are for each one of both velocities of the treadmill were obtained
mounted on the constructed rod in the first module of the from the respective final average velocities for each one of
methodology of working being fixed to a distance of 10 cm both prototypes. Considering the experimental measurements
distant from each other while it is fixing on the individual in Table II, the next step was to put in practice a study related
exactly on point S2 as shown highlighted in Figure 1. to the real result that the devices generated.
 TABLE II.
ESTIMATION OF WALKING VELOCITY WITH TWO IMPLEMENTED PROTOTYPES
TREADMILL Prototype LIS344ALH/Arduino2560/Matlab Validation of Prototype
Experimental Tests (Estimation of Average Velocity m/s)
1º - 2.29 6º - 2.48 11º - 2.27 16º - 2.29 1º - 2.51 6º - 2.42 11º - 2.41 16º - 2.45
Velocity 1 (2.46 2º - 2.17 7º - 2.15 12º - 2.18 17º - 2.39 2º - 2.42 7º - 2.44 12º - 2.26 17º - 2.36
m/s) 3º - 2.49 8º - 2.44 13º - 2.43 18º - 2.25 3º - 2.33 8º - 2.40 13º - 2.39 18º - 2.40
4º - 2.15 9º - 2.19 14º - 2.36 19º - 2.42 4º - 2.31 9º - 2.44 14º - 2.50 19º - 2.44
5º - 2.21 10º - 2.45 15º - 2.44 20º - 2.26 5º - 2.37 10º - 2.41 15º - 2.41 20º - 2.31
Average 2.32 2.41
Stand. Deviation 2.66 (%) 1.38 (%)
Experimental Tests (Estimation of Average Velocity m/s)
1º - 3.45 6º - 3.49 11º - 3.29 16º - 3.45 1º - 3.48 6º - 3.42 11º - 3.51 16º - 3.55
Velocity 2 2º - 3.15 7º - 3.47 12º - 3.40 17º - 3.40 2º - 3.48 7º - 3.45 12º - 3.32 17º - 3.34
(3.56m/s) 3º - 3.53 8º - 3.46 13º - 3.13 18º - 3.24 3º - 3.42 8º - 3.58 13º - 3.30 18º - 3.33
4º - 3.17 9º - 3.58 14º - 3.48 19º - 3.46 4º - 3.48 9º - 3.32 14º - 3.20 19º - 3.54
5º - 3.27 10º - 3.19 15º - 3.48 20º - 3.56 5º - 3.48 10º - 3.47 15º - 3.55 20º - 3.40
Average 3.387 3.46
Stand. Deviation 3.19 (%) 2.25 (%)
Figure 6 shows the comparative of final average velocity processing in the signal of accelerometers but in the final
between the two prototypes, the one developed with the result, there is a similar behavior in the average as well as in
working methodology (blue frame) as well as the one of the standard deviation.
validation (yellow frame). Starting from zero velocity, the In order to obtain the real average value which was
grey broken line represents the ideal velocity obtained from measured with both devices it was executed the evaluation of
the conveyor belt of treadmill, therefore, it is possible to combined uncertainness included in the whole measurement
obtain the evaluation of two points of reference when the process. Thus, the calculation of error obtained only from the
average velocity of the individual on the treadmill with standard deviation, the uncertainness is included due to the
velocity 1 (2.46 m/s) and velocity 2 (3.56 m/s) for the resolution of the instrument (µr) as well as the generated
comparative of both of them and the estimated ones made by uncertainness due to the variability of tests (µr). The existent
the device. errors due to the inference of the resolution of the analogic
digital converser (A/D) were calculated as shown in (16)
4
where the resolution is an intrinsic component for the least
3.46 significant bit of the acquisition:
3,5
μM = 1Resolution/2/√34 (16)
3
3.38
In the case of an experimental variation it is possible to
Speed Estimate (m/s)

2,5 2.41 obtain the calculation as shown in (17) where N is the number
of simulations which were executed [33]:
2 ?
σ
2.32 μS = / 0 (17)
√J
1,5
V. DISCUSSION AND CONCLUSSION
Treadmill Speed
1 At the end of this document were achieved the main aimed
goals during the different stages of the methodology of the
0,5 proposed project and thus it was able to validate the produced
prototype in order to leave as the legacy of this project a
0 platform with a low cost (close to 96.88% less) of project and
0 1 2
Treadmill Velocity (m/s)
3 4 which also represents the certified devices of validation [26]
[27] ]28], which uses an accelerometer sensor with a 100
Figure6: Comparing Velocities of Prototypes. times higher sensibility than the implemented prototype in this
In the calculation of the difference which was found work [23] [30]. Even when working in real time with the
between two average velocities the value is 0.09 m/s (Velocity validation platform, the results kept constant and this identifies
1) and 0.08 m/s (Velocity 2). Considering the difference of the same result observed in [5]: a no relevant collecting of data
measurements for the standard deviation collected from 20 in real time for this type of acquisition and mathematical
simulations (N = 20), the reached value is, respectively, 1.28% processing of data.
and 0.94%, that is, such a difference in the average can be In works [4] [2] [32] and [16], the errors of measures
originated by the specific validated prototype, a dedicated assumed values from 5% to 8% being that in [6] it was used
equipment (high financial cost) can exerts differentiated one single accelerometer and the calculated error resulted
14%. However, these works don´t take in account two
fundamental parameters for the final measure: the real
mathematical evaluation of velocity of the treadmill and the
existent errors when a combined uncertainness of
measurement is included in the comparative calculation
between the different velocities.
For the constructed prototype here the µr uncertainness
assumes 2.88% for the error of measure while µr represents
0.60%. Adding up the total evaluated uncertainness the final
error for the calculated device for the velocity 1 of the
treadmill is 3.96%; in a comparative with the suggested results
by the bibliographic reference [16], there was a significant
difference in the result of the final error, something that
proved the efficiency for the mathematical model which was
used and also for the offered results during the experimental
stages. In a universe of a bigger discussion, the resultant final
values can be more accurate because as the measure is
increased the number of experimental simulations, the error
per each experiment decreases and consequently the estimated
velocity is reached [33].
Acquisition, processing and management of data from the
gait of walking systems require high investment analysis. Thus
the prototype developed in this work offers in addition to
validated information, a platform which can be used anywhere
in the human body. For example, with this platform is possible
to measure the impact on the individual's knees, and get an
analysis of the cervical position and consequences of irregular
walking can cause.
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