This paper presents a simple heuristic rule based on real-time gait event detection algorithm for transfemoral amputees based on gyroscope signal and validate with footswitches for ramp activities with different inclinatio

Abouhossein, A

Awad, MIMH

Dehghani-Sanij, AA

Husman, MAB

Maqbool, HF

White Rose Research Online

This is a repository copy of Real-time gait event detection using a miniature gyroscope to improve rehabilitation for artificial lower limb users.White Rose Research Online URL for this paper:http://eprints.whiterose.ac.uk/102390/Version: Accepted VersionConference or Workshop Item:Maqbool, HF orcid.org/0000-0003-3193-4984, Husman, MAB, Awad, MIMH et al. (2 more authors) (2015) Real-time gait event detection using a miniature gyroscope to improve rehabilitation for artificial lower limb users. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). eprints@whiterose.ac.ukhttps://eprints.whiterose.ac.uk/Reuse Unless indicated otherwise, fulltext items are protected by copyright with all rights reserved. The copyright exception in section 29 of the Copyright, Designs and Patents Act 1988 allows the making of a single copy solely for the purpose of non-commercial research or private study within the limits of fair dealing. The publisher or other rights-holder may allow further reproduction and re-use of this version - refer to the White Rose Research Online record for this item. Where records identify the publisher as the copyright holder, users can verify any specific terms of use on the publisher’s website. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing eprints@whiterose.ac.uk including the URL of the record and the reason for the withdrawal request.    Abstract— This paper presents a simple heuristic rule based on real-time gait event detection algorithm for transfemoral amputees based on gyroscope signal and validate with footswitches for ramp activities with different inclination.  I. INTRODUCTION Accurate detection of human gait events such as initial contact (IC) and toe off (TO) and/or phases is vital in gait analysis and has important applications in assistive devices such as prosthetics/orthotics for rehabilitation purposes [1]. Among wearable sensors, gyroscopes are being widely used for long term monitoring of ambulatory systems. Less soft tissue movement on the anterior side of the shank than thigh and less signal variability between the subjects compared with foot signal are primarily the main advantages of attaching gyroscope on shank [2]. This study presents a simple algorithm for event detection and evaluated on transfemoral amputee for two inclined surfaces (5o and 8.4o).  II. EXPERIMENTAL SETUP AND ALGORITHM DESCRIPTION A gyroscope and a base unit containing circuitry and battery unit were placed on the anterior side of the shank with the help of Velcro straps. For validation purposes, an insole consisting of four footswitches located at the heel, 1st and the 5th metatarsals and toe was placed inside the shoe shown in Fig.1. One transfemoral amputee (age: 53 years old; weight: 66.7 Kg; height: 166.1 cm) who uses Orion2 (knee) and echelon (foot) with no other neurological problems other than his amputation participated in this study. Once the participant was equipped, he was asked to walk on two surfaces with inclinations of 5o and 8.4o respectively and data from gyroscope signal and four footswitches were captured through wireless gait detection system.   Figure 1. Placement of (A) Gyroscope (B) Base Unit and an insole with footswitches at 1-Heel, 2,3-1st & 5th Metatarsals, 4-Toe   *Research is linked to a large project supported by EPSRC (EP/K020462/1). H. F. Maqbool, M. A. B. Husman, M. I. Awad, Member, IEEE A. Abouhossein, Member, IEEE, A. A. Dehghani-Sanij: School of Mechanical Engineering, University of Leeds, Leeds, LS2 9JT, UK (e-mail: mnhfm@leeds.ac.uk; mnmabh@leeds.ac.uk;  m.i.awad@leeds.ac.uk; a.abouhossein@leeds.ac.uk; A.A.Dehghani-Sanij@leeds.ac.uk). H. F. Maqbool is on study leave from University of Engineering and Technology Lahore, Pakistan.   Gyroscope signal at shank shows prominent peaks and troughs corresponding to mid-swing (M-Sw), IC and TO. A sample of real-time event detection for prosthetic side during ramp ascending is shown in Fig. 2.  Figure 2. Real-time event detection using (a) gyroscope at shank and validation with (b) footswitches at heel and toe III. RESULTS The timing difference was evaluated using; difference = Tg -Tftsw where Tg and Tftsw indicate the timings of the detected events from gyroscope and footswitches respectively. The mean difference and standard deviation for IC and TO on both inclinations showed quite similar results during ramp ascending for both prosthetic and intact side as shown in Table 1. There are little variations during ramp descending, particularly on prosthetic side. The proposed algorithm showed promising results for both inclined surfaces. TABLE I.  EVENT DETECTION TIME DIFFERENCES (MS) BETWEEN GYROSCOPE AND FOOTSWITCHS:MEAN DIFFERENCE ± STANDARD DEVIATION  Ramp Ascending Ramp Descending Angle 5o 8.4o 5o 8.4o Prosthetic Side IC 39 ± 18 39.5 ± 20 9 ± 40 0.7 ± 5 TO  51± 12 58± 14 23.7 ± 13 -45.7 ± 31 Intact Side IC 20 ± 17 28.5 ± 28 20.3 ± 26 33.6 ± 62 TO  21 ± 9.5 32.3 ± 24 -3.9 ± 19 13.5 ± 15 REFERENCES [1] D. Gouwanda and A. A. Gopalai, "A robust real-time gait event detection using wireless gyroscope and its application on normal and altered gaits," Medical Engineering & Physics, 2015. [2] P. Catalfamo, S. Ghoussayni, and D. Ewins, "Gait event detection on level ground and incline walking using a rate gyroscope," Sensors, vol. 10, pp. 5683-5702, 2010.  Real-time gait event detection using a miniature gyroscope to improve rehabilitation for artificial lower limb users* H. F. Maqbool, M. A. B. Husman, M. I. Awad, A. Abouhossein, and A. A. Dehghani-Sanij 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Congress Center HamburgSept 28 - Oct 2, 2015. Hamburg, Germany978-1-4799-9993-4/15/$31.00 ©2015 IEEE 4776

Real-time gait event detection using a miniature gyroscope to improve rehabilitation for artificial lower limb users

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Real-time gait event detection using a miniature gyroscope to improve rehabilitation for artificial lower limb users

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