As a natural step of progression, the group found it natural to create a data logging device in order to be able to track the movements of a typical human. This information gave us the ability to gain valuable knowledge about gait and stride on regular feet as well for prosthetic feet.
The basis for our data logger is a Adafruit Feather 32u4 Adalogger connected to a Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055. To power the device we used a 3.7V Lipo battery connected through a switch.
After 3D printing the enclosure we finished construction on the data module:
To best mount the sensor system we elected to use a standard format camera mount. Using a standard mount gives us the flexibility for mounting in other orientations or mounts in the future. After completing the mounting setup we then began testing to gather gait and cadence data which we will use later to generalize and control our foot driving algorithm. To confirm our data was correct we ran the same tests on multiple subjects under the same testing conditions. The data gathered after testing is then read and processed into a meaningful curve of the human step which we will use later in our driving function.