Ambulatory measurement of ankle kinetics for clinical applications

Inertial Motion Capture-Based Wearable Systems for Estimation of Joint Kinetics: A Systematic Review

In biomechanics, joint kinetics has an important role in evaluating the mechanical load of the joint and understanding its motor function. Although an optical motion capture (OMC) system has mainly been used to evaluate joint kinetics in combination with force plates, inertial motion capture (IMC) systems have recently been emerging in joint kinetic analysis due to their wearability and ubiquitous measurement capability. In this regard, numerous studies have been conducted to estimate joint kinetics using IMC-based wearable systems. However, these have not been comprehensively addressed yet. Thus, the aim of this review is to explore the methodology of the current studies on estimating joint kinetic variables by means of an IMC system. From a systematic search of the literature, 48 studies were selected. This paper summarizes the content of the selected literature in terms of the (i) study characteristics, (ii) methodologies, and (iii) study results. The estimation methods of the selected studies are categorized into two types: the inverse dynamics-based method and the machine learning-based method. While these two methods presented different characteristics in estimating the kinetic variables, it was demonstrated in the literature that both methods could be applied with good performance for the kinetic analysis of joints in different daily activities.

Single sensor measurement of heel-height during the push-off phase of gait

Objective. In healthy gait a forceful push-off is needed to get an efficient leg swing and propulsion, and a high heel lift makes a forceful push-off possible. The power of the push-off is decreased with increased age and in persons with impaired balance and gait. The aim of this study was to evaluate whether a wearable equipment (Striton) and algorithms to estimate vertical heel-height during gait from a single optical distance sensor is reliable and feasible for clinical applications.Approach. To assess heel-height with the Striton system an optical distance sensor was used to measure the distance to the floor along the shank. An algorithm was created to transform this measure to a vertical distance. The heel-height was validated in an experimental setup, against a 3D motion capture system (MCS), and test-retest and day-to-day tests were performed on 10 elderly persons. As a reference material 83 elderly persons were included, and heel-height was measured before and after surgery in four patients with the neurological disorder idiopathic normal pressure hydrocephalus (iNPH).Main results. In the experimental setup the accuracy was high with a maximum error of 2% at all distances, target colours and inclination angles, and the correlation to the MCS wasR= 0.94. Test-retest and day-to-day tests were equal within ±1.2 cm. Mean heel-height of the elderly persons was 16.5 ± 0.6 cm and in the patients with iNPH heel-height was increased from 11.2 cm at baseline to 15.3 cm after surgery.Significance. Striton can reliably measure heel-height during gait, with low test-retest and day-to-day variability. The system was easy to attach, and simple to use, which makes it suitable for clinical applications.

A Review of Smart Technologies Embedded in Shoes

Technological advancements in wearable devices have revolutionized smart shoes. Smart shoes are sometimes referred to as intelligent shoes or computer-based shoes. They are capable of recognizing and recording data from day-to-day activities by the user. Such smart shoes are designed with sensors, vibrating motors, GPS, wireless systems, and various other sensors/actuators for the comfort and benefit of the wearer. In the current manuscript, we are reviewing various technologies that are implemented in smart shoes.

Novel, clinically applicable method to measure step-width during the swing phase of gait

OBJECTIVE

Step-width during walking is an indicator of stability and balance in patients with neurological disorders, and development of objective tools to measure this clinically would be a great advantage. The aim of this study was to validate an in-house-developed gait analysis system (Striton), based on optical and inertial sensors and a novel method for stride detection, for measuring step-width during the swing phase of gait and temporal parameters.

APPROACH

The step-width and stride-time measurements were validated in an experimental setup, against a 3D motion capture system and on an instrumented walkway. Further, test-retest and day-to-day variability were evaluated, and gait parameters were collected from 87 elderly persons (EP) and four individuals with idiopathic normal pressure hydrocephalus (iNPH) before/after surgery.

MAIN RESULTS

Accuracy of the step-width measurement was high: in the experimental setup mean error was 0.08 ± 0.25 cm (R = 1.00) and against the 3D motion capture system 0.04 ± 1.12 cm (R = 0.98). Test-retest and day-to-day measurements were equal within ±0.5 cm. Mean difference in stride time was -0.003 ± 0.008 s between Striton and the instrumented walkway. The Striton system was successfully applied in the clinical setting on individuals with iNPH, which had larger step-width (6.88 cm, n = 4) compared to EP (5.22 cm, n = 87).

SIGNIFICANCE

We conclude that Striton is a valid, reliable and wearable system for quantitative assessment of step-width and temporal parameters during gait. Initial measurements indicate that the newly defined step-width parameter differs between EP and patients with iNPH and before/after surgery. Thus, there is potential for clinical applicability in patients with reduced gait stability.

Development of an Ankle-Foot Orthosis That Provides Support for Flaccid Paretic Plantarflexor and Dorsiflexor Muscles

ADJUST, a novel ankle-foot orthosis (AFO) that we have developed, allows the ankle a normal range of motion (ROM) while providing support for flaccid ankle-muscle paresis. It consists of two leaf-spring hinges that independently control plantarflexion and dorsiflexion stiffness. To evaluate whether ADJUST meets the minimum mechanical requirements, we quantified its ankle ROM and stiffness. To evaluate whether it meets the minimum ankle kinematic and kinetic goals for normal gait, a patient with both plantarflexor and dorsiflexor paralysis used it, and his own AFO, to walk. When fitted with stiff springs, ADJUST met all requirements and goals. During the stance and the swing phases, ankle ROM was within the normal range when ADJUST was fitted with stiff springs. Ankle ROM during stance was outside the normal range both with the patient's own AFO and with ADJUST when it was fitted with flexible springs. Power at the ankle met the minimum goal but was lower with ADJUST than with the patient's own AFO. The optimal stiffness configuration that would result in a higher power at the ankle with a normal ankle ROM was not reached for this patient. Walking with ADJUST seems feasible and could be profitable in patients with flaccid ankle muscle paresis.

Estimation of the ankle power during the terminal stance of gait using an inertial sensor

[Purpose] The purpose of this study was to develop an assessment tool that reflects the ankle function during the terminal stance of gait using an inertial sensor. [Participants and Methods] Thirteen healthy males (20 limbs) participated in this study. All the participants were required to perform five straight-line walking trials along a 10-m level walkway. During the terminal stance phase, both the anterior-posterior and vertical accelerations were measured with an inertial sensor mounted on the fibular head. The Pythagorean theorem was used to calculate the acceleration vector. A three-dimensional gait analysis system was used for movement data acquisition. All statistical analyses were performed using IBM SPSS Statistics 24.0 for Windows. [Results] Results were obtained using the following multiple regression equation for the estimation of ankle plantar flexion power: Estimated Ankle Power=−4.689 + 0.269 × vertical acceleration + 0.104 × body weight. [Conclusion] Our novel method for gait analysis using an inertial sensor can assess the ankle power during the terminal stance phase of gait.

Physical Behavior in Older Persons during Daily Life: Insights from Instrumented Shoes

Activity level and gait parameters during daily life are important indicators for clinicians because they can provide critical insights into modifications of mobility and function over time. Wearable activity monitoring has been gaining momentum in daily life health assessment. Consequently, this study seeks to validate an algorithm for the classification of daily life activities and to provide a detailed gait analysis in older adults. A system consisting of an inertial sensor combined with a pressure sensing insole has been developed. Using an algorithm that we previously validated during a semi structured protocol, activities in 10 healthy elderly participants were recorded and compared to a wearable reference system over a 4 h recording period at home. Detailed gait parameters were calculated from inertial sensors. Dynamics of physical behavior were characterized using barcodes that express the measure of behavioral complexity. Activity classification based on the algorithm led to a 93% accuracy in classifying basic activities of daily life, i.e., sitting, standing, and walking. Gait analysis emphasizes the importance of metrics such as foot clearance in daily life assessment. Results also underline that measures of physical behavior and gait performance are complementary, especially since gait parameters were not correlated to complexity. Participants gave positive feedback regarding the use of the instrumented shoes. These results extend previous observations in showing the concurrent validity of the instrumented shoes compared to a body-worn reference system for daily-life physical behavior monitoring in older adults.

Subjective versus objective assessment in early clinical outcome of modified Lapidus procedure for hallux valgus deformity

BACKGROUND

Studies have assessed the outcome of hallux valgus surgeries based on subjective questionnaires, usually the American Orthopaedic Foot and Ankle Society Score, and radiographic results reporting good to excellent outcome at 6-12 months postoperatively. However, contrasting results were reported by gait studies at 12-24 months postoperatively. In a previous study, we found nine gait parameters which can describe the altered gait in hallux valgus deformity. This study aimed, to assess the outcome of modified Lapidus at 6 months postoperatively, using gait assessment method, to determine if the nine specified gait parameters effectively relates with the clinical scores and the radiological results or add information missed by these commonly used clinical assessments.

METHOD

We assessed 21 participants including 11 controls and 10 patients with moderate to severe hallux valgus deformity. The patient group was followed 6 months postoperatively. The ambulatory gait assessment was performed utilizing pressure insoles and inertial sensors. Clinical assessment includes foot and ankle questionnaires along with radiographic results. Comparison was made using non parametric tests, P<0.05.

FINDINGS

Altered gait patterns, similar to the preoperative outcome, persisted at 6 months postoperatively when compared to controls. The foot and ankle ability measure score showed an outcome comparable to the gait results. In contrast, the American Orthopaedic Foot and Ankle Society Score and radiographic results showed significant improvement.

INTERPRETATION

Study supports the reliability of nine defined gait parameters in assessing the outcome of hallux valgus surgeries. The existing clinical assessment overestimates the functional outcome at the early postoperative phase.

Lower-limb amputee ankle and hip kinetic response to an imposed error in mediolateral foot placement

Maintaining balance while walking is challenging for lower limb amputees. The effect of prosthetic foot stiffness on recovery kinetics from an error in foot placement may inform prescription practice and lead to new interventions designed to improve balance. Ten unilateral transtibial amputees were fit with two prosthetic feet with different stiffness properties in random order. After a 3-week acclimation period, they returned to the lab for testing before switching feet. Twelve non-amputees also participated in a single data collection. While walking on an instrumented treadmill, we imposed a repeatable, unexpected medial or lateral disturbance in foot placement by releasing a burst of air at the ankle just before heel strike. Three-dimensional motion capture, ground reaction force and center of pressure (COP) data were collected for two steps prior, the disturbed step and three steps after the disturbance. During undisturbed walking, coronal ankle impulse was lower by 42% for amputees wearing a stiff compared to a compliant foot (p=0.017); however, across steps, both prosthetic recovery patterns were similar compared to the sound limb and non-amputees. Peak coronal hip moment was 15-20% lower for both foot types during undisturbed walking (p<0.001), with less change in response to the medial disturbance (p<0.001) compared to the sound limb and non-amputees. Amputee prosthetic COP excursion was unaffected by the disturbance (2.4% change) compared to the sound limb (59% change; p<0.001) and non-amputees (55% change; p<0.001). These findings imply that a prosthetic foot-ankle system able to contribute to ankle kinetics may improve walking balance among amputees.

Mobile Sensor Application for Kinematic Detection of the Knees

OBJECTIVE

To correctly measure the knee joint angle, this study utilized a Qualisys motion capture system and also used it as the reference to assess the validity of the study's Inertial Measurement Unit (IMU) system that consisted of four IMU sensors and the Knee Angle Recorder software. The validity was evaluated by the root mean square (RMS) of different angles and the intraclass correlation coefficient (ICC) values between the Qualisys system and the IMU system.

METHODS

Four functional knee movement tests for ten healthy participants were investigated, which were the knee flexion test, the hip and knee flexion test, the forward step test and the leg abduction test, and the walking test.

RESULTS

The outcomes of the knee flexion test, the hip and knee flexion test, the forward step test, and the walking test showed that the RMS of different angles were less than 6°. The ICC values were in the range of 0.84 to 0.99. However, the leg abduction test showed a poor correlation in the measurement of the knee abduction-adduction movement.

CONCLUSION

The IMU system used in this study is a new good method to measure the knee flexion-extension movement.

Characterization of gait in female patients with moderate to severe hallux valgus deformity

BACKGROUND

Hallux valgus is one of the most common forefoot problems in females. Studies have looked at gait alterations due to hallux valgus deformity, assessing temporal, kinematic or plantar pressure parameters individually. The present study, however, aims to assess all listed parameters at once and to isolate the most clinically relevant gait parameters for moderate to severe hallux valgus deformity with the intent of improving post-operative patient prognosis and rehabilitation.

METHODS

The study included 26 feet with moderate to severe hallux valgus deformity and 30 feet with no sign of hallux valgus in female participants. Initially, weight bearing radiographs and foot and ankle clinical scores were assessed. Gait assessment was then performed utilizing pressure insoles (PEDAR) and inertial sensors (Physilog) and the two groups were compared using a non-parametric statistical hypothesis test (Wilcoxon rank sum, P<0.05). Furthermore, forward stepwise regression was used to reduce the number of gait parameters to the most clinically relevant and correlation of these parameters was assessed with the clinical score.

FINDINGS

Overall, the results showed clear deterioration in several gait parameters in the hallux valgus group compared to controls and 9 gait parameters (effect size between 1.03 and 1.76) were successfully isolated to best describe the altered gait in hallux valgus deformity (r(2)=0.71) as well as showed good correlation with clinical scores.

INTERPRETATION

Our results, and nine listed parameters, could serve as benchmark for characterization of hallux valgus and objective evaluation of treatment efficacy.

Technical and clinical view on ambulatory assessment in Parkinson's disease

With the progress of technologies of recent years, methods have become available that use wearable sensors and ambulatory systems to measure aspects of--particular axial--motor function. As Parkinson's disease (PD) can be considered a model disorder for motor impairment, a significant number of studies have already been performed with these patients using such techniques. In general, motion sensors such as accelerometers and gyroscopes are used, in combination with lightweight electronics that do not interfere with normal human motion. A fundamental advantage in comparison with usual clinical assessment is that these sensors allow a more quantitative, objective, and reliable evaluation of symptoms; they have also significant advantages compared to in-lab technologies (e.g., optoelectronic motion capture) as they allow long-term monitoring under real-life conditions. In addition, based on recent findings particularly from studies using functional imaging, we learned that non-motor symptoms, specifically cognitive aspects, may be at least indirectly assessable. It is hypothesized that ambulatory quantitative assessment strategies will allow users, clinicians, and scientists in the future to gain more quantitative, unobtrusive, and everyday relevant data out of their clinical evaluation and can also be designed as pervasive (everywhere) and intensive (anytime) tools for ambulatory assessment and even rehabilitation of motor and (partly) non-motor symptoms in PD.

Outcome of unilateral ankle arthrodesis and total ankle replacement in terms of bilateral gait mechanics

Previous studies assessed the outcome of ankle arthrodesis (AA) and total ankle replacement (TAR) surgeries; however, the extent of postoperative recovery towards bilateral gait mechanics (BGM) is unknown. We evaluated the outcome of the two surgeries at least 2 years post rehabilitation, focusing on BGM. 36 participants, including 12 AA patients, 12 TAR patients, and 12 controls were included. Gait assessment over 50 m distance was performed utilizing pressure insoles and 3D inertial sensors, following which an intraindividual comparison was performed. Most spatiotemporal and kinematic parameters in the TAR group were indicative of good gait symmetry, while the AA group presented significant differences. Plantar pressure symmetry among the AA group was also significantly distorted. Abnormality in biomechanical behavior of the AA unoperated, contralateral foot was observed. In summary, our results indicate an altered BGM in AA patients, whereas a relatively fully recovered BGM is observed in TAR patients, despite the quantitative differences in several parameters when compared to a healthy population. Our study supports a biomechanical assessment and rehabilitation of both operated and unoperated sides after major surgeries for ankle osteoarthrosis.

Assessment of Effective Ankle Joint Positioning in Strength Training for Intrinsic Foot Flexor Muscles: A Comparison of Intrinsic Foot Flexor Muscle Activity in a Position Intermediate to Plantar and Dorsiflexion with that in Maximum Plantar Flexion Using Needle Electromyography

[Purpose] The effectiveness of intrinsic foot flexor strength training performed in the plantar flexion position was examined using needle electromyography. [Subjects] The subjects of this study were 18 healthy men. [Methods] We used needle electromyography to measure the muscle activities of the flexor hallucis brevis (FHB), and the flexor digitorum brevis (FDB) in maximum plantar and an intermediate position. [Results] Significant increases in muscle activities were observed for both FHB and FDB, and the rates of increase from the intermediate position to the plantar flexion position were 43% for FHB and 46% for FDB. [Conclusion] This study demonstrated that it is possible to evaluate intrinsic foot flexors, in addition to the numerous reports on treatment methods focusing on extrinsic foot flexors. Furthermore, the results suggest that toe flexion exercises performed during plantar flexion of the ankle joint are an effective method for intrinsic foot flexor strength training.

Strength training for the intrinsic flexor muscles of the foot: effects on muscle strength, the foot arch, and dynamic parameters before and after the training

[Purpose] The purpose of the present study was to verify the effects of intrinsic foot flexor strength training. [Subjects] The subjects were 12 healthy males without motor system disease. [Methods] A training method that involved flexion of all toe interphalangeal and metatarsophalangeal joints against a 3-kg load was implemented and was performed for 200 repetitions once per day, three times per week, for a period of eight weeks. [Results] Significant changes were observed for intrinsic foot flexor strength scores, foot arches, vertical jumping, 1-legged long jumping, and 50-m dash time. [Conclusion] This muscle strength training method significantly improved muscle strength scores, foot arch shape, and movement performance.

Rider trunk and bicycle pose estimation with fusion of force/inertial sensors

Estimation of human pose in physical human-machine interactions such as bicycling is challenging because of highly-dimensional human motion and lack of inexpensive, effective motion sensors. In this paper, we present a computational scheme to estimate both the rider trunk pose and the bicycle roll angle using only inertial and force sensors. The estimation scheme is built on a rider-bicycle dynamic model and the fusion of the wearable inertial sensors and the bicycle force sensors. We take advantages of the attractive properties of the robust force measurements and the motion-sensitive inertial measurements. The rider-bicycle dynamic model provides the underlying relationship between the force and the inertial measurements. The extended Kalman filter-based sensor fusion design fully incorporates the dynamic effects of the force measurements. The performance of the estimation scheme is demonstrated through extensive indoor and outdoor riding experiments.

Measurement of multi-segment foot joint angles during gait using a wearable system

Usually the measurement of multi-segment foot and ankle complex kinematics is done with stationary motion capture devices which are limited to use in a gait laboratory. This study aimed to propose and validate a wearable system to measure the foot and ankle complex joint angles during gait in daily conditions, and then to investigate its suitability for clinical evaluations. The foot and ankle complex consisted of four segments (shank, hindfoot, forefoot, and toes), with an inertial measurement unit (3D gyroscopes and 3D accelerometers) attached to each segment. The angles between the four segments were calculated in the sagittal, coronal, and transverse planes using a new algorithm combining strap-down integration and detection of low-acceleration instants. To validate the joint angles measured by the wearable system, three subjects walked on a treadmill for five minutes at three different speeds. A camera-based stationary system that used a cluster of markers on each segment was used as a reference. To test the suitability of the system for clinical evaluation, the joint angle ranges were compared between a group of 10 healthy subjects and a group of 12 patients with ankle osteoarthritis, during two 50-m walking trials where the wearable system was attached to each subject. On average, over all joints and walking speeds, the RMS differences and correlation coefficients between the angular curves obtained using the wearable system and the stationary system were 1 deg and 0.93, respectively. Moreover, this system was able to detect significant alteration of foot and ankle function between the group of patients with ankle osteoarthritis and the group of healthy subjects. In conclusion, this wearable system was accurate and suitable for clinical evaluation when used to measure the multi-segment foot and ankle complex kinematics during long-distance walks in daily life conditions.

Ambulatory measurement of the knee adduction moment in patients with osteoarthritis of the knee

High knee joint-loading increases the risk and progression of knee osteoarthritis (OA). Mechanical loading on the knee is reflected in the external knee adduction moment (KAdM) that can be measured during gait with laboratory-based measurement systems. However, clinical application of these systems is limited. Ambulatory movement analysis systems, including instrumented force shoes (IFS) and an inertial and magnetic measurement system (IMMS), could potentially be used to determine the KAdM in a laboratory-free setting. Promising results have been reported concerning the use of the IFS in KAdM measurements; however its application in combination with IMMS has not been studied. The objective of this study was to compare the KAdM measured with an ambulatory movement analysis system with a laboratory-based system in patients with knee OA. Gait analyses of 14 knee OA patients were performed in a gait laboratory. The KAdM was concurrently determined with two the systems: (i) Ambulatory: IFS and IMMS in combination with a linked-segment model (to obtain joint positions); (ii) Laboratory: force plate and optoelectronic marker system. Mean differences in KAdM between the ambulatory and laboratory system were not significant (maximal difference 0.20%BW*H in late stance, i.e. 5.6% of KAdM range, P>0.05) and below clinical relevant and hypothesized differences, showing no systematic differences at group level. Absolute differences were on average 24% of KAdM range, i.e. 0.83%BW*H, particularly in early and late stance. To achieve greater accuracy for clinical use, estimation of joint position via a more advanced calibrated linked-segment model should be investigated.

An effortless procedure to align the local frame of an inertial measurement unit to the local frame of another motion capture system

Inertial measurement units (IMUs) offer great opportunities to analyze segmental and joints kinematics. When combined with another motion capture system (MCS), for example, to validate new IMU-based applications or to develop mixed systems, it is necessary to align the local frame of the IMU sensors to the local frame of the MCS. Currently, all alignment methods use landmarks on the IMU's casing. Therefore, they can only be used with well-documented IMUs and they are prone to error when the IMU's casing is small. This study proposes an effortless procedure to align the local frame of any IMU to the local frame of any other MCS able to measure the orientation of its local frame. The general concept of this method is to derive the gyroscopic angles for both devices during an alignment movement, and then to use an optimization algorithm to calculate the alignment matrix between both local frames. The alignment movement consists of rotations around three more or less orthogonal axes and it can easily be performed by hands. To test the alignment procedure, an IMU and a magnetic marker were attached to a plate, and 20 alignment movements were recorded. The maximum errors of alignment (accuracy±precision) were 1.02°±0.32° and simulations showed that the method was robust against noise that typically affect IMUs. In conclusion, this study describes an efficient alignment procedure that is quick and easy to perform, and that does not require any alignment device or any knowledge about the IMU casing.