U. Della Croce

Estimation of stride length in level walking using an inertial measurement unit attached to the foot: A validation of the zero velocity assumption during stance

In a variety of applications, inertial sensors are used to estimate spatial parameters by double integrating over time their coordinate acceleration components. In human movement applications, the drift inherent to the accelerometer signals is often reduced by exploiting the cyclical nature of gait and under the hypothesis that the velocity of the sensor is zero at some point in stance. In this study, the validity of the latter hypothesis was investigated by determining the minimum velocity of progression of selected points of the foot and shank during the stance phase of the gait cycle while walking at three different speeds on level ground. The errors affecting the accuracy of the stride length estimation resulting from assuming a zero velocity at the beginning of the integration interval were evaluated on twenty healthy subjects. Results showed that the minimum velocity of the selected points on the foot and shank increased as gait speed increased. Whereas the average minimum velocity of the foot locations was lower than 0.011 m/s, the velocity of the shank locations were up to 0.049 m/s corresponding to a percent error of the stride length equal to 3.3%. The preferable foot locations for an inertial sensor resulted to be the calcaneus and the lateral aspect of the rearfoot. In estimating the stride length, the hypothesis that the velocity of the sensor can be set to zero sometimes during stance is acceptable only if the sensor is attached to the foot.

Extraction of information on elder motor ability from clinical and biomechanical data through data mining

This study aimed at evaluating the additional knowledge provided by a biomechanical test coupled with clinical tests for motor ability assessment. A database including clinical test scores and sit-to-stand test variables obtained from 110 medically stable elderly subjects was submitted to data mining by searching for association rules. The presence of rules revealed some redundancies due to sample homogeneity, as mainly observed in the joint analysis of a questionnaire for daily activities assessment (Nottingham test) and the sit-to-stand, and due to similar evaluated information, as resulted from the joint analysis of a balance and gait scale (Tinetti test) and the sit-to-stand. Conversely, when no association rules were found, the tests carried unrelated information. The associations mined while analysing these clinical tests encouraged the integration of biomechanical tests, increasing significantly its clinical applicability and reducing the information redundancy. The information extracted also allowed to highlight rules typical of elderly persons that may serve as a knowledge-based tool for the detection of possible deviation from normality.

Foot clearance estimation during overground walking and vertical obstacle passing using shank-mounted MIMUs in healthy and pathological subjects

A method for assessing maximum foot clearance (maxFCl) during overground walking and obstacle passing using magnetic and inertial measurement units (MIMUs) placed above the malleoli is proposed and validated. The method precision and accuracy were evaluated using a stereo-photogrammetric system as a gold standard. The proposed method was applied to the data obtained from the gait of both healthy subjects and patients with various abnormal gaits. First, an optimally filtered direct and reverse integration (OFDRI) was used for each gait cycle to determine the gait velocity. Then, the effect of an additional OFDRI or a simple DRI approach for obtaining vertical foot displacement was explored. The results showed that the mean absolute errors associated to the maxFCl estimates were about 10% of its range of variation for the healthy and pathological subjects during overground walking. An accurate estimate of the maxFCl during obstacle passing was reached (mean absolute errors less than 5%). Additional testing on gait at various gait speed and on a greater number of subjects should be carried out to fully validate the MIMU-based maxFCl estimates.

Tracking gaze while walking on a treadmill: spatial accuracy and limits of use of a stationary remote eye-tracker

Inaccurate visual sampling and foot placement may lead to unsafe walking. Virtual environments, challenging obstacle negotiation, may be used to investigate the relationship between the point of gaze and stepping accuracy. A measurement of the point of gaze during walking can be obtained using a remote eye-tracker. The assessment of its performance and limits of applicability is essential to define the areas of interest in a virtual environment and to collect information for the analysis of the visual strategy. The current study aims at characterizing a gaze eye-tracker in static and dynamic conditions. Three different conditions were analyzed: a) looking at a single stimulus during selected head movements b) looking at multiple stimuli distributed on the screen from different distances, c) looking at multiple stimuli distributed on the screen while walking. The eye-tracker was able to measure the point of gaze during the head motion along medio-lateral and vertical directions consistently with the device specifications, while the tracking during the head motion along the anterior-posterior direction resulted to be lower than the device specifications. During head rotation around the vertical direction, the error of the point of gaze was lower than 23 mm. The best accuracy (10 mm) was achieved, consistently to the device specifications, in the static condition performed at 650 mm from the eye-tracker, while point of gaze data were lost while getting closer to the eye-tracker. In general, the accuracy and precision of the point of gaze did not show to be related to the stimulus position. During fast walking (1.1 m/s), the eye-tracker did not lose any data, since the head range of motion was always within the ranges of trackability. The values of accuracy and precision during walking were similar to those resulting from static conditions. These values will be considered in the definition of the size and shape of the areas of interest in the virtual environment.

Assessment of gait direction changes during straight-ahead walking in healthy elderly and Huntington disease patients using a shank worn MIMU.

The aim of this study was to propose and comparatively evaluate four methods for assessing stride-by-stride changes of direction of progression, during straight walking using measurements of a magnetic and inertial unit placed above the malleolus. The four methods were evaluated by comparing their estimate of the gait changes of direction of progression with that obtained from an instrumented gait mat used as a gold standard. The methods were applied to the data obtained from the gait of both healthy subjects and patients with Huntington Disease, the latter characterized by a jerky swing phase. The results showed that the errors associated to the best estimates of the gait direction changes were about 10% of its range of variability for the healthy subjects and increased to about 30% for the patients, both walking at comfortable speed when the range of variability is the largest. Additional testing on gait at various radius of curvature should be carried out to fully validate the MIMU-based estimates.

Musculoskeletal system modelling for the evaluation of motor disability

Musculoskeletal system models aimed at assessing activity limitation and impairment of a specific individual in the domain of mobility are presented. A thorough biomechanical analysis of selected motor tasks would be effective but awkward to apply in clinical practice by reason of the complexity of both instrumentation and experimental protocols. Therefore, different methods are proposed that entail the measurement of a minimum number of biomechanical variables. However, since data thus obtained do not necessarily lend themselves to straightforward interpretation, they are fed to models of the musculoskeletal system that embody the invariant aspects of both the modelled system and the specific motor task (minimum measured-input models). Two different sets of mathematical models are presented that aim at assessing activity limitation and establishing a relationship between this limitation and impairment, respectively.