Fall Detection by Helmet Orientation and Acceleration

during Bike Riding

Ho-Rim Choi1, Mun-Ho Ryu2,3, Yoon-Seok Yang2, Nak-Bum Lee4
and Deok-Ju Jang5
1

Department of Healthcare Engineering, Chonbuk National University, 567 Baekje-daero,

Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756 Republic of Korea
2
Division of Biomedical Engineering, Chonbuk National University, 567 Baekje-daero,
Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756 Republic of Korea
3
Center for Healthcare Technology Development, Chonbuk National University, 567 Baekjedaero, Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756 Republic of Korea
4
Technology Licensing Center, Industrial-Academic Cooperation Foundation, Chonbuk
National University, 567 Baekje-daero, Deokjin-gu, Jeonju-si, Jeollabuk-do 561-756
Republic of Korea
5
eClio Co., Ltd., 761-10, 2ga, Palbok-dong, Deokjin-gu, Jeonju-si, Jeollabuk-do, Republic of
Korea
{ck-ccr, mhryu, ysyang, biomecca}@jbnu.ac.kr, jdjjang@cliotech.co.kr

Abstract. This study represents research on falls while riding bicycles. We

present an algorithm that detects the occurrence and direction of falls during
bicycle riding through the use of a sensor module installed on the helmet. The
sensor module is equipped with a tri-axial accelerometer, tri-axial gyroscope,
and tri-axial magnetometer to record acceleration and tilt signals. We determine
the threshold of the algorithm for fall detection based on experiments of riding
over speed bumps and performing warm-up exercise motions prior to riding a
bicycle. The algorithm we developed achieved 98% accuracy in fall detection
and 98.5% accuracy in detection of fall direction. This study performed
simulations indoors for the sake of subjects safety; however, we expect to
produce the research in an environment more similar to real-life situations. In
future, it is also possible that the developed system will be applied to an
emergency reporting system for bicycle falls.
Keywords: Fall Detection, Bike Riding, Inertial Sensor, Helmet.

1.

Introduction

Bicycles are an economical and eco-friendly means of transportation and are used
widely for commuting. As the amount of spare time increases and interest in health
intensifies, more people enjoy riding bicycles for leisure [1, 2]. When people fall
during bicycle riding, they may sustain injuries ranging from bruises to bone fractures
and, in the worst case, even brain injuries. For the elderly, the risk may be much
higher. As a result, people must wear helmets when they ride bicycles.

59

There has already been considerable research conducted on the analysis of patterns
of human motion in activities of daily living (ADL) and fall detection. Nyan et al.
attached a tri-axial accelerometer to subjects clothing at the shoulder and detected
lifestyle patterns in the time frequency domain [3]. Falls are detected using peak
values of tri-axial acceleration signals and a system was set up to call for help on
short notice through short message service (SMS) when falls occur. Hwang et al.
developed an algorithm of fall detection using a tri-axial accelerometer, tri-axial
gyroscope, and a tiltmeter [4]. If the average value of the tilt sensor exceeded the first
threshold, the differential value of acceleration signals was calculated. If the
differential value exceeded the second threshold, it activated a timer and a 10 s
countdown was initiated. Because people move less frequently after taking a fall, the
event is deemed a fall if the differential value of acceleration after 10 s fails to exceed
the third threshold. Furthermore, Bourke et al. conducted research to distinguish ADL
from falls by measuring the pitch and roll of the body using a bi-axial gyroscope [5].
They designed a specific algorithm based on the integration of angle and speed data,
and each case of acceleration that differentiated each speed. However, while
integrating the speed data, the problem of drift occurs in which offsets are integrated,
due to which accurate angle would not be obtained.
The abovementioned studies address falls in ADL but there has been no research
on falls during bike rides. The difference between the risk of falls in ADL and that
during a bike ride is significant. The velocity of a forward-moving bike compounds
the velocity of a fall, resulting in a much stronger shock; therefore, the danger of a fall
during a bike ride is greater. Consequently, research on fall detection during a bike
ride is required.
Thus, this study developed a system of fall detection during bike riding rather than
falls during ADL. We designed an algorithm of fall detection by fixing on a leisure
bike helmet a sensor module in which a tri-axial gyroscope, tri-axial accelerometer,
and tri-axial magnetometer were installed. The algorithm of fall detection was applied
by calculating the convergence of acceleration signals emitted by the sensor module
and the vector signals of the rotation angles of quaternions. Along with fall detection,
fall direction was identified by analyzing vector signals of rotation angle. The
experiment proceeded with forward falls, backward falls, leftward falls, and rightward
falls, with the subject sitting on the saddle of a bike indoors for the sake of the
subjects safety. Moreover, additional experiments were performed with speed bumps
and warm-up exercises prior to riding a bike, in order to set the threshold to be used
for the algorithm.

2.

Methods

2.1

Hardware system

The sensor unit employed in the study consisted of a tri-axial gyroscope, a tri-axial
accelerometer, and a tri-axial magnetometer, along with a 32-bit multipoint control

60

unit (MCU, EBIMU 9-DOF, E2BOX, Korea). All of these components were built in
to the sensor unit. The sensitivity of the gyroscope (L3G4200D, STMicroelectronics)
was 2000 dps, that of the accelerometer (LSM303DLH, STMicroelectronics) was 8
g, and that of the magnetometer (LSM303DLH, STMicroelectronics) was 2.5 gauss.
The sampling speed was 100 Hz. For wireless communication with the host PC, a
Bluetooth module was used (Parani ESD-200, Sena, Korea) (Fig. 1).

Fig. 1. Configuration of the sensor unit.

2.2. Experiment Protocol

Five healthy male subjects (ages 2028, 24.2 on average) participated in this
experiment. The subjects fell to the front, back, left, and right directions from a seated
position on a 60 cm high bicycle saddle, placed on a mattress indoors for safety, while
wearing a helmet with the sensor module on the head. In this study, the subjects were
induced to fall unintentionally and naturally by moving the mattress quickly using
pneumatic pressure. All the experiments were repeated 10 times for each direction.

2.3. Algorithm of Fall Detection

This study used signal vector magnitude (SVM), calculated as in Eq. (1), by applying
a low-pass filter with a cutoff frequency of 5 Hz to tri-axial acceleration signals ( a x ,

a y , a z ) for fall detection.

a = ax 2 + a y 2 + az 2 .

Because a

(1)

can change due to the shock from traversing a speed bump and the

acceleration added from riding the bicycle, a fall cannot be detected from a alone.
Therefore, additional analysis is performed on the tilt of the sensor.
The angle data used in this study were the rotation angle vectors ( x , y , z ) of
quaternions produced by the sensor unit, which were then converted from radians to
degrees. Here, x , y , z are respectively equivalent to the rotations centering on
X, Y, and Z. As the angle data on the vertical axis is unrelated with the fall, the data
on vertical axis angles were ruled out when calculating the tilt ( tilt ) (Eq. (2)).

61

 tilt = x 2 + y 2 .

(2)

The overall process of fall detection is as follows (Fig. 2). First, if the peak value
of a does not exceed ath , the experimental trial is classified as a normal ride. If
the peak value of a
value of tilt

exceeds ath , the tilt of the sensor is analyzed. If the peak

does not exceed th , the trial is identified as a speed bump or an

ADL motion, but if it exceeds th , it is identified as a fall during a bike ride.

Fall direction is detected by comparing the variations ( x , y ) of x and

y after a fall has occurred. If x is greater than y and x is greater than 0,

the trial is identified as a forward fall, and if x is smaller than 0, it is identified as a
backward fall. Likewise, if y is greater than x and y is greater than 0, it is
identified as a leftward fall, and if y is smaller than 0, it is identified as a rightward
fall.

Fig. 2. Flow chart of the fall detection algorithm.

3. RESULTS
In this study, we designed an algorithm to detect the occurrence and direction of falls
based on the parameters a and tilt . Parameter measurements were obtained
from the convergence of readings generated by a sensor module with a built-in triaxial accelerometer, tri-axial gyroscope, and tri-axial magnetometer, installed on a
helmet worn by the experimental subjects. When the algorithm of fall detection was
applied, falls were not detected in the preliminary experiments involving riding on a

62

flat surface, traversing a speed bump, and performing warm-up exercises. When
riding on the flat surface, no fall was detected because a and tilt did not
exceed ath and th (Fig. 3(a)), and when traversing the speed bump, no fall was
detected because tilt did not exceed th , though a exceeded ath (Fig. 3(b)).
In addition, during warm-up exercises consisting of bending the upper body forward,
no fall was detected because tilt exceeded th but a did not exceed ath (Fig.
3(c)). When a fall occurred during a bike ride, however, the fall was detected because
a and tilt exceeded ath and th , respectively (Fig. 3(d)).

Fig. 3. (a) a (top) and tilt (bottom) when riding on a flat surface, (b)

a (top) and

tilt (bottom) when riding over a speed bump, (c) a (top) and tilt (bottom) when
performing warm-up exercises (bending the upper body forward), and (d)

a (top) and

tilt (bottom) when a fall occurs.

Five experimental subjects executed a total of 200 falls comprising 10 trials in each
direction, classified as front, back, left, and right, starting from a seated position on a
bicycle saddle, in order to verify the accuracy of detection of falls and fall direction.
As a result of applying the developed algorithm, the fall detection rate recorded was
98%. The algorithm also demonstrated detection capability of 98.5% for fall direction
(Table 1).

63

Table 1. Accuracy of fall detection and fall direction detection.

Fall detection
Direction
detection

4.

Attempts
200

Detections
196

Total (%)
98

200

197

98.5

CONCLUSIONS

In this study, we developed a system to detect falls during bike rides while wearing a
leisure helmet on the head. We developed an algorithm to detect the occurrence and
direction of falls using signals of acceleration and rotation angle vector of quaternions.
Parameter readings are emitted by a sensor installed on the leisure helmet, containing
a sensor module with a built-in tri-axial accelerometer, tri-axial gyroscope, and triaxial magnetometer. Fall detection was achieved by judging the acceleration signal
and the rotation angle vector, and the detection of fall direction was determined based
on the rotation angle vector. When fall and fall direction were detected during a bike
ride by applying the developed algorithm, it demonstrated excellent detection
capabilities for both.
This study was performed indoors rather than on actual bike rides outdoors. Thus,
there is a need to conduct further experiments in environments more similar to real
bicycle-riding conditions. In future, the sensor installed on the helmet can be applied
to a system in which the sensor reports an emergency by transmitting emergency
signals to mobile devices when a fall occurs during a bike ride.
Acknowledgments: This work was supported by the Basic Science Research Program
through the National Research Foundation of Korea (NRF) funded by the Ministry of
Education, Science and Technology (2011-0010715).

References
1. Gatersleben, B., Appleton, K.M.: Contemplating Cycling to Work: Attitudes and Perceptions
in Different Stages of Change. Transportation Research Part A 41, 302--312 (2007)
2. Heinen, E., Maat, K., Wee, B.V.: The Role of Attitudes toward Characteristics of Bicycle
Commuting on the Choice to Cycle to Work over Various Distances. Transportation
Research Part D 16, 102--109 (2011)
3. Nyan, M.N., Tay, F.E.H., Manimaran, M., Seah, K.H.W.: Garment-based Detection of Falls
and Activities of Daily Living using 3-axis MEMS Accelerometer. J. Phys.: Conf. Ser. 34,
1059--1067 (2006)
4. Hwang, J.Y., Kang, J.M, Jang, Y.W., Kim, H.C.: Development of Novel Algorithm and
Real-time Monitoring Ambulatory System Using Bluetooth Module for Fall Detection in the
Elderly. In: Proceeding of the 26th Annual International Conference of the IEEE EMBS, pp.
2204--2207. IEEE Press, San Francisco (2004)
5. Bourke, A.K., Lyons, G.M.: A Threshold-based Fall-detection Algorithm Using a Bi-axial
Gyroscope Sensor. Med. Eng. Phys. 30, 84--90 (2008)

64