Gait Cycle Validation and Segmentation Using Inertial Sensors

Bilateral Elimination Rule-Based Finite Class Bayesian Inference System for Circular and Linear Walking Prediction

OBJECTIVE

The prediction of upcoming circular walking during linear walking is important for the usability and safety of the interaction between a lower limb assistive device and the wearer. This study aims to build a bilateral elimination rule-based finite class Bayesian inference system (BER-FC-BesIS) with the ability to predict the transition between circular walking and linear walking using inertial measurement units.

METHODS

Bilateral motion data of the human body were used to improve the recognition and prediction accuracy of BER-FC-BesIS.

RESULTS

The mean predicted time of BER-FC-BesIS in predicting the left and right lower limbs' upcoming steady walking activities is 119.32 ± 9.71 ms and 113.75 ± 11.83 ms, respectively. The mean time differences between the predicted time and the real time of BER-FC-BesIS in the left and right lower limbs' prediction are 14.22 ± 3.74 ms and 13.59 ± 4.92 ms, respectively. The prediction accuracy of BER-FC-BesIS is 93.98%.

CONCLUSION

Upcoming steady walking activities (e.g., linear walking and circular walking) can be accurately predicted by BER-FC-BesIS innovatively.

SIGNIFICANCE

This study could be helpful and instructional to improve the lower limb assistive devices' capabilities of walking activity prediction with emphasis on non-linear walking activities in daily living.

ACROMORFO study: gait analysis in a cohort of acromegalic patients

PURPOSE

In acromegaly, skeletal complications resulted to be associated with low quality of life (QoL) and high risk of falls. The aim of the present study was to perform a quantitative assessment of movement through gait analysis technique in patients with acromegaly.

STUDY POPULATION

Thirty-three acromegalic patients [9 with active disease (AD), 14 with controlled disease (CD) and 10 with disease remission (RD)] and 20 healthy subjects were enrolled for the study.

MEASUREMENTS

Kinetic and kinematic data were collected with 3D-gait analysis. Kinematic data were processed to compute the Gait Profile Score (GPS), a parameter that summarizes the overall deviation of kinematic gait data relative to unaffected population.

RESULTS

The acromegalic group showed longer stance phase duration (p < 0.0001) compared to controls. The GPS and several gait variable scores resulted to be statistically higher in the acromegalic group compared to healthy controls. GPS values were significantly higher in AD compared to CD (p < 0.05) and RD groups (p = 0.001). The AD group presented significantly higher values in terms of hip rotation and ankle dorsiflexion compared to CD and RD groups and with regard to the foot progression compared to RD. Interestingly, patients with RD exhibited a more physiological gait pattern.

CONCLUSION

Acromegalic patients showed quantitative alterations of gait pattern, suggesting instability and increased risk of falls. Arthropathy, along with its associated abnormal joint loading, proprioceptive impairment and hyperkyphosis could be contributing factors. Disease control and remission appear to improve postural balance. A better knowledge on walking performance in acromegaly would help to develop specific rehabilitation programmes to reduce falls' risk and improve QoL.

Gait characteristics related to fall risk in patients with cerebral small vessel disease

Background

Falls and gait disturbance are significant clinical manifestations of cerebral small vessel disease (CSVD). However, few relevant studies are reported at present. We aimed to investigate gait characteristics and fall risk in patients with CSVD.

Methods

A total of 119 patients with CSVD admitted to the Department of Neurology at Tianjin Huanhu Hospital between 17 August 2018 and 7 November 2018 were enrolled in this study. All patients underwent cerebral magnetic resonance imaging scanning and a 2-min walking test using an OPAL wearable sensor and Mobility Lab software. Relevant data were collected using the gait analyzer test system to further analyze the time-space and kinematic parameters of gait. All patients were followed up, and univariate and multivariate logistic regression analyses were conducted to analyze the gait characteristics and relevant risk factors in patients with CSVD at an increased risk of falling.

Results

All patients were grouped according to the presence or absence of falling and fear of falling and were divided into a high-fall risk group (n = 35) and a low-fall risk group (n = 72). Logistic multivariate regression analysis showed that the toe-off angle [odds ratio (OR) = 0.742, 95% confidence interval (CI) 0.584-0.942, p < 0.05], toe-off angle coefficient of variation (CV) (OR = 0.717, 95% CI: 0.535-0.962, p < 0.05), stride length CV (OR = 1.256, 95% CI: 1.017-1.552, p < 0.05), and terminal double support CV (OR = 1.735, 95% CI: 1.271-2.369, p < 0.05) were statistically significant (p < 0.05) and were independent risk factors for high-fall risk in patients with CSVD.

Conclusion

CSVD patients with seemingly normal gait and ambulation independently still have a high risk of falling, and gait spatiotemporal-kinematic parameters, gait symmetry, and gait variability are important indicators to assess the high-fall risk. The decrease in toe-off angle, in particular, and an increase in related parameters of CV, can increase the fall risk of CSVD patients.

Validity and Reliability of Inertial Measurement Units on Lower Extremity Kinematics During Running: A Systematic Review and Meta-Analysis

Background

Inertial measurement units (IMUs) are useful in monitoring running and alerting running-related injuries in various sports settings. However, the quantitative summaries of the validity and reliability of the measurements from IMUs during running are still lacking. The purpose of this review was to investigate the concurrent validity and test–retest reliability of IMUs for measuring gait spatiotemporal outcomes and lower extremity kinematics of health adults during running.

Methods

PubMed, CINAHL, Embase, Scopus and Web of Science electronic databases were searched from inception until September 2021. The inclusion criteria were as follows: (1) evaluated the validity or reliability of measurements from IMUs, (2) measured specific kinematic outcomes, (3) compared measurements using IMUs with those obtained using reference systems, (4) collected data during running, (5) assessed human beings and (6) were published in English. Eligible articles were reviewed using a modified quality assessment. A meta-analysis was performed to assess the pooled correlation coefficients of validity and reliability.

Results

Twenty-five articles were included in the systematic review, and data from 12 were pooled for meta-analysis. The methodological quality of studies ranged from low to moderate. Concurrent validity is excellent for stride length (intraclass correlation coefficient (ICC) (95% confidence interval (CI)) = 0.937 (0.859, 0.972), p < 0.001), step frequency (ICC (95% CI) = 0.926 (0.896, 0.948), r (95% CI) = 0.989 (0.957, 0.997), p  < 0.001) and ankle angle in the sagittal plane (r (95% CI) = 0.939 (0.544, 0.993), p = 0.002), moderate to excellent for stance time (ICC (95% CI) = 0.664 (0.354, 0.845), r (95% CI) = 0.811 (0.701, 0.881), p < 0.001) and good for running speed (ICC (95% CI) = 0.848 (0.523, 0.958), p = 0.0003). The summary Fisher's Z value of flight time was not statistically significant (p = 0.13). Similarly, the stance time showed excellent test–retest reliability (ICC (95% CI) = 0.954 (0.903, 0.978), p < 0.001) and step frequency showed good test–retest reliability (ICC (95% CI) = 0.896 (0.837, 0.933), p < 0.001).

Conclusions

Findings in the current review support IMUs measurement of running gait spatiotemporal parameters, but IMUs measurement of running kinematics on lower extremity joints needs to be reported with caution in healthy adults.

Trial Registration: PROSPERO Registration Number: CRD42021279395.

Supplementary Information

The online version contains supplementary material available at 10.1186/s40798-022-00477-0.

The Diverse Gait Dataset: Gait Segmentation Using Inertial Sensors for Pedestrian Localization with Different Genders, Heights and Walking Speeds

Stride length estimation is one of the most crucial aspects of Pedestrian Dead Reckoning (PDR). Due to the measurement noise of inertial sensors, individual variances of pedestrians, and the uncertainty in pedestrians walking, there is a substantial error in the assessment of stride length, which causes the accumulated deviation of Pedestrian Dead Reckoning (PDR). With the help of multi-gait analysis, which decomposes strides in time and space with greater detail and accuracy, a novel and revolutionary stride estimating model or scheme could improve the performance of PDR on different users. This paper presents a diverse stride gait dataset by using inertial sensors that collect foot movement data from people of different genders, heights, and walking speeds. The dataset contains 4690 walking strides data and 19,083 gait labels. Based on the dataset, we propose a threshold-independent stride segmentation algorithm called SDATW and achieve an F-measure of 0.835. We also provide the detailed results of recognizing four gaits under different walking speeds, demonstrating the utility of our dataset for helping train stride segmentation algorithms and gait detection algorithms.

Hidden Markov Model based stride segmentation on unsupervised free-living gait data in Parkinson's disease patients

Background

To objectively assess a patient’s gait, a robust identification of stride borders is one of the first steps in inertial sensor-based mobile gait analysis pipelines. While many different methods for stride segmentation have been presented in the literature, an out-of-lab evaluation of respective algorithms on free-living gait is still missing.

Method

To address this issue, we present a comprehensive free-living evaluation dataset, including 146.574 semi-automatic labeled strides of 28 Parkinson’s Disease patients. This dataset was used to evaluate the segmentation performance of a new Hidden Markov Model (HMM) based stride segmentation approach compared to an available dynamic time warping (DTW) based method.

Results

The proposed HMM achieved a mean F1-score of 92.1% and outperformed the DTW approach significantly. Further analysis revealed a dependency of segmentation performance to the number of strides within respective walking bouts. Shorter bouts (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$< 30$$\end{document}<30 strides) resulted in worse performance, which could be related to more heterogeneous gait and an increased diversity of different stride types in short free-living walking bouts. In contrast, the HMM reached F1-scores of more than 96.2% for longer bouts (\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$> 50$$\end{document}>50 strides). Furthermore, we showed that an HMM, which was trained on at-lab data only, could be transferred to a free-living context with a negligible decrease in performance.

Conclusion

The generalizability of the proposed HMM is a promising feature, as fully labeled free-living training data might not be available for many applications. To the best of our knowledge, this is the first evaluation of stride segmentation performance on a large scale free-living dataset. Our proposed HMM-based approach was able to address the increased complexity of free-living gait data, and thus will help to enable a robust assessment of stride parameters in future free-living gait analysis applications.

Supplementary Information

The online version contains supplementary material available at 10.1186/s12984-021-00883-7.

Finite Class Bayesian Inference System for Circle and Linear Walking Gait Event Recognition Using Inertial Measurement Units

Accurate and fast human motion pattern recognition is the key to ensuring lower limb assistive devices' appropriate assistance. The research on human motion pattern recognition of lower limb assistive devices mainly focuses on sagittal gait. The motion pattern such as circular walking (CW) is asymmetric about the sagittal plane of the body. CW is common in daily living. However, the recognition algorithm of CW is rarely reported. Since lower limb assistive devices interact with humans, lacking the capability of recognizing CW is dangerous. Thus, to realize the accurate and fast recognition of CW, this article proposed a finite class Bayesian interference system (FC-BesIS). FC-BesIS is designed to recognize walking activities (linear walking and CW) and gait events (heel contact, load response, mid stance, terminal stance, pre-swing, initial swing, mid swing, and terminal swing). A finite class method which reduces the number of potential classes according to elimination rules before decision-making is introduced. Elimination rules are designed based on likelihood estimation and sensor information. The experiments show that walking activities and gait events can be accurately and fastly recognized by FC-BesIS. The experiments also show that the performance of FC-BesIS in mean recognition accuracy (MRA) and mean decision time (MDT) is improved compared with BesIS. The MRA of walking activities and gait events are 100% and 97.38%, respectively. The MDT of walking activities and gait events are 28.19 ms and 33.94 ms, respectively. Overall, FC-BesIS has been proved to be an accurate and fast recognition algorithm for human motion patterns using wearable sensors.

Optimization Methodology for Additive Manufacturing of Customized Parts by Fused Deposition Modeling (FDM). Application to a Shoe Heel

Additive manufacturing technologies offer important new manufacturing possibilities, but its potential is so big that only with the support of other technologies can it really be exploited. In that sense, parametric design and design optimization tools appear as two appropriate complements for additive manufacturing. Synergies existing between these three technologies allow for integrated approaches to the design of customized and optimized products. While additive manufacturing makes it possible to materialize overly complex geometries, parametric design allows designs to be adapted to custom characteristics and optimization helps to choose the best solution according to the objectives. This work represents an application development of a previous work published in Polymers which exposed the general structure, operation and opportunities of a methodology that integrates these three technologies by using visual programming with Grasshopper. In this work, the different stages of the methodology and the way in which each one modifies the final design are exposed in detail, applying it to a case study: the design of a shoe heel for FDM—an interesting example both from the perspectives of ergonomic and mass customization. Programming, operation and results are exposed in detail showing the complexity, usefulness and potential of the methodology, with the aim of helping other researchers to develop proposals in this line.