An optimal procedure for stride length estimation using foot-mounted magneto-inertial measurement units

Stride length is often used to quantitatively evaluate human locomotion performance. Stride by stride estimation can be conveniently obtained from the signals recorded using miniaturized inertial sensors attached to the feet and appropriate algorithms for data fusion and integration. To reduce the detrimental drift effect, different algorithmic solutions can be implemented. However, the overall method accuracy is supposed to depend on the optimal selection of the parameters which are required to be set. This study aimed at evaluating the influence of the main parameters involved in well-established methods for stride length estimation. An optimization process was conducted to improve methods' performance and preferable values for the considered parameters according to different walking speed ranges are suggested. A parametric solution is also proposed to target the methods on specific subjects' gait characteristics. The stride length estimates were obtained from straight walking trials of five healthy volunteers and were compared with those obtained from a stereo-photogrammetric system. After parameters tuning, percentage errors for stride length were 1.9%, 2.5% and 2.6% for comfortable, slow, and fast walking conditions, respectively

A method for gait events detection based on low spatial resolution pressure insoles data

The accurate identification of initial and final foot contacts is a crucial prerequisite for obtaining a reliable estimation of spatio-temporal parameters of gait. Well-accepted gold standard techniques in this field are force platforms and instrumented walkways, which provide a direct measure of the foot–ground reaction forces. Nonetheless, these tools are expensive, non-portable and restrict the analysis to laboratory settings. Instrumented insoles with a reduced number of pressure sensing elements might overcome these limitations, but a suitable method for gait events identification has not been adopted yet. The aim of this paper was to present and validate a method aiming at filling such void, as applied to a system including two insoles with 16 pressure sensing elements (element area = 310 mm2), sampling at 100 Hz. Gait events were identified exploiting the sensor redundancy and a cluster-based strategy. The method was tested in the laboratory against force platforms on nine healthy subjects for a total of 801 initial and final contacts. Initial and final contacts were detected with low average errors of (about 20 ms and 10 ms, respectively). Similarly, the errors in estimating stance duration and step duration averaged 20 ms and <10 ms, respectively. By selecting appropriate thresholds, the method may be easily applied to other pressure insoles featuring similar requirements

Inter-leg distance measurement as a tool for accurate step counting in patients with multiple sclerosis

Step detection is commonly performed using wearable inertial devices. However, methods based on the extraction of signals features may deteriorate their accuracy when applied to very slow walkers with abnormal gait patterns. The aim of this study is to test and validate an innovative step counter method (DiSC) based on the direct measurement of inter-leg distance. Data were recorded using an innovative wearable system which integrates a magneto-inertial unit and multiple distance sensors (DSs) attached to the shank. The method allowed for the detection of both left and right steps using a single device and was validated on thirteen people affected by multiple sclerosis (0 < EDSS < 6.5) while performing a six-minute walking test. Two different measurement ranges for the distance sensor were tested (DS 200 : 0–200 mm; DS 400 : 0–400 mm). Accuracy was evaluated by comparing the estimates of the DiSC method against video recordings used as gold standard. Preliminary results showed a good accuracy in detecting steps with half the errors in detecting the step of the instrumented side compared to the non-instrumented (mean absolute percentage error 2.4% vs 4.8% for DS 200 ; mean absolute percentage error 2% vs 5.4% for DS 400 ). When averaging errors across patients, over and under estimation errors were compensated, and very high accuracy was achieved (E % <1.2% for DS 200 ; E % <0.7% for DS 400 ). DS 400 is the suggested configuration for patients walking with a large base of support

A method for gait events detection based on low spatial resolution pressure insoles data

The accurate identification of initial and final foot contacts is a crucial prerequisite for obtaining a reliable estimation of spatio-temporal parameters of gait. Well-accepted gold standard techniques in this field are force platforms and instrumented walkways, which provide a direct measure of the foot–ground reaction forces. Nonetheless, these tools are expensive, non-portable and restrict the analysis to laboratory settings. Instrumented insoles with a reduced number of pressure sensing elements might overcome these limitations, but a suitable method for gait events identification has not been adopted yet. The aim of this paper was to present and validate a method aiming at filling such void, as applied to a system including two insoles with 16 pressure sensing elements (element area = 310 mm2), sampling at 100 Hz. Gait events were identified exploiting the sensor redundancy and a cluster-based strategy. The method was tested in the laboratory against force platforms on nine healthy subjects for a total of 801 initial and final contacts. Initial and final contacts were detected with low average errors of (about 20 ms and 10 ms, respectively). Similarly, the errors in estimating stance duration and step duration averaged 20 ms and <10 ms, respectively. By selecting appropriate thresholds, the method may be easily applied to other pressure insoles featuring similar requirements

A wearable multi-sensor system for real world gait analysis

Gait analysis is commonly performed in standardized environments, but there is a growing interest in assessing gait also in ecological conditions. In this regard, an important limitation is the lack of an accurate mobile gold standard for validating any wearable system, such as continuous monitoring devices mounted on the trunk or wrist. This study therefore deals with the development and validation of a new wearable multi-sensor-based system for digital gait assessment in free-living conditions. In particular, results obtained from five healthy subjects during lab-based and real-world experiments were presented and discussed. The in-lab validation, which assessed the accuracy and reliability of the proposed system, shows median percentage errors smaller than 2% in the estimation of spatio-temporal parameters. The system also proved to be easy to use, comfortable to wear and robust during the out-of-lab acquisitions, showing its feasibility for free-living applications

An algorithm for accurate marker-based gait event detection in healthy and pathological populations during complex motor tasks

There is growing interest in the quantification of gait as part of complex motor tasks. This requires gait events (GEs) to be detected under conditions different from straight walking. This study aimed to propose and validate a new marker-based GE detection method, which is also suitable for curvilinear walking and step negotiation. The method was first tested against existing algorithms using data from healthy young adults (YA, n = 20) and then assessed in data from 10 individuals from the following five cohorts: older adults, chronic obstructive pulmonary disease, multiple sclerosis, Parkinson’s disease, and proximal femur fracture. The propagation of the errors associated with GE detection on the calculation of stride length, duration, speed, and stance/swing durations was investigated. All participants performed a variety of motor tasks including curvilinear walking and step negotiation, while reference GEs were identified using a validated methodology exploiting pressure insole signals. Sensitivity, positive predictive values (PPV), F1-score, bias, precision, and accuracy were calculated. Absolute agreement [intraclass correlation coefficient (ICC2,1)] between marker-based and pressure insole stride parameters was also tested. In the YA cohort, the proposed method outperformed the existing ones, with sensitivity, PPV, and F1 scores ≥ 99% for both GEs and conditions, with a virtually null bias (<10 ms). Overall, temporal inaccuracies minimally impacted stride duration, length, and speed (median absolute errors ≤1%). Similar algorithm performances were obtained for all the other five cohorts in GE detection and propagation to the stride parameters, where an excellent absolute agreement with the pressure insoles was also found (ICC2,1=0.817− 0.999). In conclusion, the proposed method accurately detects GE from marker data under different walking conditions and for a variety of gait impairments

Correction to: Assessing real-world gait with digital technology? Validation, insights and recommendations from the Mobilise-D consortium (<em>Journal of NeuroEngineering and Rehabilitation</em>, (2023), 20, 1, (78), 10.1186/s12984-023-01198-5)

\ua9 The Author(s) 2024.Following publication of the original article [1], the author noticed the errors in Table 1, and in Discussion section. In Table 1 under Metric (Gait sequence detection) column, the algorithms GSDB was updated with wrong description, input, output, language and citation and GSDc with wrong description has been corrected as shown below: (Table presented.) Description of algorithms for each metric: gait sequence detection (GSD), initial contact event detection (ICD), cadence estimation (CAD) and stride length estimation (SL) Metric Name Description Input Output Language References GSDA Based on a frequency-based approach, this algorithm is implemented on the vertical and anterior–posterior acceleration signals. First, these are band pass filtered to keep frequencies between 0.5 and 3 Hz. Next, a convolution of a 2 Hz sinewave (representing a template for a gait cycle) is performed, from which local maxima will be detected to define the regions of gait acc_v: vertical acceleration acc_ap: anterior–posterior acceleration WinS = 3 s; window size for convolution OL = 1.5 s; overlap of windows Activity_thresh = 0.01; Motion threshold Fs: sampling frequency Start: beginning of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector End: termination of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector Matlab\uae Iluz, Gazit [40] GSDB This algorithm, based on a time domain-approach, detects the gait periods based on identified steps. First, the norm of triaxial acceleration signal is low-pass filtered (FIR, fc = 3.2 Hz), then a peak detection procedure using a threshold of 0.1 [g] is applied to identify steps. Consecutive steps, detected using an adaptive step duration threshold are associated to gait sequences acc_norm: norm of the 3D-accelerometer signal Fs: sampling frequency th: peak detection threshold: 0.1 (g) Start: beginning of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector End: termination of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector Matlab\uae Paraschiv-Ionescu, Newman [41] GSDc This algorithm utilizes the same approach as GSDBthe only difference being a different threshold for peak detection of 0.15 [g] acc_norm: norm of the 3D-accelerometer signal Fs: sampling frequency th: peak detection threshold: 0.15 (g) Start: beginning of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector End: termination of N gait sequences [s] relative to the start of a recording or a test/trial. Format: 1 7 N vector Matlab\uae Paraschiv-Ionescu, Newman [41] In Discussion section, the paragraph should read as "Based on our findings collectively, we recommend using GSDB on cohorts with slower gait speeds and substantial gait impairments (e.g., proximal femoral fracture). This may be because this algorithm is based on the acceleration norm (overall accelerometry signal rather than a specific axis/direction (e.g., vertical), hence it is more robust to sensor misalignments that are common in unsupervised real-life settings. Moreover, the use of adaptive threshold, that are derived from the features of a subject’s data and applied to step duration for detection of steps belonging to gait sequences, allows increased robustness of the algorithm to irregular and unstable gait patterns" instead of “Based on our findings collectively, we recommend using GSDB on cohorts with slower gait speeds and substantial gait impairments (e.g., proximal femoral fracture). This may be because this algorithm is based on the acceleration norm (overall accelerometry signal rather than a specific axis/direction (e.g., vertical), hence it is more robust to sensor misalignments that are common in unsupervised real-life settings [41]. Moreover, the use of adaptive thresholds, that are derived from the features of a subject’s data and applied to the amplitude of acceleration norm and to step duration for detection of steps belonging to gait sequences, allows increased robustness of the algorithm to irregular and unstable gait patterns”

Laboratory and free-living gait performance in adults with COPD and healthy controls

Background Gait characteristics are important risk factors for falls, hospitalisations and mortality in older adults, but the impact of COPD on gait performance remains unclear. We aimed to identify differences in gait characteristics between adults with COPD and healthy age-matched controls during 1) laboratory tests that included complex movements and obstacles, 2) simulated daily-life activities (supervised) and 3) free-living daily-life activities (unsupervised). Methods This case–control study used a multi-sensor wearable system (INDIP) to obtain seven gait characteristics for each walking bout performed by adults with mild-to-severe COPD (n=17; forced expiratory volume in 1 s 57±19% predicted) and controls (n=20) during laboratory tests, and during simulated and free-living daily-life activities. Gait characteristics were compared between adults with COPD and healthy controls for all walking bouts combined, and for shorter (≤30 s) and longer (>30 s) walking bouts separately. Results Slower walking speed (−11 cm·s−1, 95% CI: −20 to −3) and lower cadence (−6.6 steps·min−1, 95% CI: −12.3 to −0.9) were recorded in adults with COPD compared to healthy controls during longer (>30 s) free-living walking bouts, but not during shorter (≤30 s) walking bouts in either laboratory or free-living settings. Double support duration and gait variability measures were generally comparable between the two groups. Conclusion Gait impairment of adults with mild-to-severe COPD mainly manifests during relatively long walking bouts (>30 s) in free-living conditions. Future research should determine the underlying mechanism(s) of this impairment to facilitate the development of interventions that can improve free-living gait performance in adults with COPD