Estimation of Gait Kinematics and Kinetics from Inertial Sensor Data Using Optimal Control of Musculoskeletal Models

Inertial sensing enables field studies of human movement and ambulant assessment of patients. However, the challenge is to obtain a comprehensive analysis from low-quality data and sparse measurements. In this paper, we present a method to estimate gait kinematics and kinetics directly from raw inertial sensor data performing a single dynamic optimization. We formulated an optimal control problem to track accelerometer and gyroscope data with a planar musculoskeletal model. In addition, we minimized muscular effort to ensure a unique solution and to prevent the model from tracking noisy measurements too closely. For evaluation, we recorded data of ten subjects walking and running at six different speeds using seven inertial measurement units (IMUs). Results were compared to a conventional analysis using optical motion capture and a force plate. High correlations were achieved for gait kinematics (rho \u3e= 0.93) and kinetics (rho \u3e= 0.90). In contrast to existing IMU processing methods, a dynamically consistent simulation was obtained and we were able to estimate running kinetics. Besides kinematics and kinetics, further metrics such as muscle activations and metabolic cost can be directly obtained from simulated model movements. In summary, the method is insensitive to sensor noise and drift and provides a detailed analysis solely based on inertial sensor data

A Yoga Exercise App Designed for Patients With Axial Spondylarthritis: Development and User Experience Study

BackgroundBesides anti-inflammatory medication, physical exercise represents a cornerstone of modern treatment for patients with axial spondyloarthritis (AS). Digital health apps (DHAs) such as the yoga app YogiTherapy could remotely empower patients to autonomously and correctly perform exercises. ObjectiveThis study aimed to design and develop a smartphone-based app, YogiTherapy, for patients with AS. To gain additional insights into the usability of the graphical user interface (GUI) for further development of the app, this study focused exclusively on evaluating users’ interaction with the GUI. MethodsThe development of the app and the user experience study took place between October 2020 and March 2021. The DHA was designed by engineering students, rheumatologists, and patients with AS. After the initial development process, a pilot version of the app was evaluated by 5 patients and 5 rheumatologists. The participants had to interact with the app’s GUI and complete 5 navigation tasks within the app. Subsequently, the completion rate and experience questionnaire (attractiveness, perspicuity, efficiency, dependability, stimulation, and novelty) were completed by the patients. ResultsThe results of the posttest questionnaires showed that most patients were already familiar with digital apps (4/5, 80%). The task completion rates of the usability test were 100% (5/5) for the tasks T1 and T2, which included selecting and starting a yoga lesson and navigating to an information page. Rheumatologists indicated that they were even more experienced with digital devices (2/5, 40% experts; 3/5, 60% intermediates). In this case, they scored task completion rates of 100% (5/5) for all 5 usability tasks T1 to T5. The mean results from the User Experience Questionnaire range from −3 (most negative) to +3 (most positive). According to rheumatologists’ evaluations, attractiveness (mean 2.267, SD 0.401) and stimulation (mean 2.250, SD 0.354) achieved the best mean results compared with dependability (mean 2.000, SD 0.395). Patients rated attractiveness at a mean of 2.167 (SD 0.565) and stimulation at a mean of 1.950 (SD 0.873). The lowest mean score was reported for perspicuity (mean 1.250, SD 1.425). ConclusionsThe newly developed and tested DHA YogiTherapy demonstrated moderate usability among rheumatologists and patients with rheumatic diseases. The app can be used by patients with AS as a complementary treatment. The initial evaluation of the GUI identified significant usability problems that need to be addressed before the start of a clinical evaluation. Prospective trials are also needed in the second step to prove the clinical benefits of the app