A practical step length algorithm using lower limb angular velocities |
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| Institution: | 1. University of Miami, Department of Biomedical Engineering, Coral Gables, FL, USA;2. University of Miami Miller School of Medicine Department of Physical Therapy, Miami, FL, USA;3. University of Miami, Frost School of Music, Music Engineering Technology, Coral Gables, FL, USA;4. Miami Department of Veterans Affairs Healthcare System, Miami, FL, USA;1. Department of Physical Therapy, University of Miami Miller School of Medicine, Coral Gables, FL, USA;2. Music Engineering Technology Program, University of Miami Frost School of Music, Coral Gables, FL, USA;3. Neil Spielholz Functional Outcomes Research & Evaluation Center, University of Miami, Coral Gables, FL, USA;1. Faculty of Sport and Health Sciences, Neuromuscular Research Center, University of Jyväskylä, Jyväskylä, Finland;2. Faculty of Sport and Health Sciences and Gerontology Research Center, University of Jyväskylä, Jyväskylä, Finland;1. Dycare, C. Ávila 48-50, 08005 Barcelona, Spain;2. Dept. Mathematics and Informatics, University of Barcelona, Gran Via 585, 08007 Barcelona, Spain;3. Computer Vision Center, 08193 Bellaterra, Spain;4. Centre Alt Rendiment, Sant Cugat, Spain;1. Department of Biomedical Sciences, Bioengineering Unit, University of Sassari, Sassari (SS), Italy;2. Interuniversity Centre of Bioengineering of the Human Neuromusculoskeletal System, Sassari (SS), Italy |
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| Abstract: | The use of Inertial Measurement Units (IMUs) for spatial gait analysis has opened the door to unconstrained measurements within the home and community. Bandwidth, cost limitations, and ease of use has historically restricted the number and location of sensors worn on the body. In this paper, we describe a four-sensor configuration of IMUs placed on the shanks and thighs that is sufficient to provide an accurate measure of temporal gait parameters, spatial gait parameters, and joint angle dynamics during ambulation. Estimating spatial gait parameters solely from gyroscope data is preferred because gyroscopes are less susceptible to sensor noise and a system comprised of only gyroscopes uses decreased bandwidth compared to a typical 9 degree-of-freedom IMU. The purpose of this study was to determine the validity of a novel method of step length estimation using gyroscopes attached to the shanks and thighs. An Inverted Pendulum Model algorithm (IPM) was proposed to calculate step length, stride length, and gait speed. The algorithm incorporates heel-strike events and average forward velocity per step to make these assessments. IMU algorithm accuracy was determined via concurrent validity with an instrumented walkway and results explained via the collision model of gait. The IPM produced accurate estimates of step length, stride length, and gait speed with a mean difference of 3 cm and an RMSE of 6.6 cm for step length, thus establishing a new approach for spatial gait parameter calculation. The lack of numerical integration in IPM makes it well suited for use in continuous monitoring applications where sensor sampling rates are restricted. |
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| Keywords: | Clinical gait analysis IMU Stride length Step length Gait speed |
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