Accuracy of the Orientation Estimate Obtained Using Four Sensor Fusion Filters Applied to Recordings of Magneto-Inertial Sensors Moving at Three Rotation Rates

Augmented Cooper test: Biomechanical contributions to endurance performance

Running mechanics are modifiable with training and adopting an economical running technique can improve running economy and hence performance. While field measurement of running economy is cumbersome, running mechanics can be assessed accurately and conveniently using wearable inertial measurement units (IMUs). In this work, we extended this wearables-based approach to the Cooper test, by assessing the relative contribution of running biomechanics to the endurance performance. Furthermore, we explored different methods of estimating the distance covered in the Cooper test using a wearable global navigation satellite system (GNSS) receiver. Thirty-three runners (18 highly trained and 15 recreational) performed an incremental laboratory treadmill test to measure their maximum aerobic speed (MAS) and speed at the second ventilatory threshold (sVT2). They completed a 12-minute Cooper running test with foot-worm IMUs and a chest-worn GNSS-IMU on a running track 1–2 weeks later. Using the GNSS receiver, an accurate estimation of the 12-minute distance was obtained (accuracy of 16.5 m and precision of 1.1%). Using this distance, we showed a reliable estimation [R² > 0.9, RMSE ϵ (0.07, 0.25) km/h] of the MAS and sVT2. Biomechanical metrics were extracted using validated algorithm and their association with endurance performance was estimated. Additionally, the high-/low-performance runners were compared using pairwise statistical testing. All performance variables, MAS, sVT2, and average speed during Cooper test, were predicted with an acceptable error (R² ≥ 0.65, RMSE ≤ 1.80 kmh⁻¹) using only the biomechanical metrics. The most relevant metrics were used to develop a biomechanical profile representing the running technique and its temporal evolution with acute fatigue, identifying different profiles for runners with highest and lowest endurance performance. This profile could potentially be used in standardized functional capacity measurements to improve personalization of training and rehabilitation programs.

Concurrent Evolution of Biomechanical and Physiological Parameters With Running-Induced Acute Fatigue

Understanding the influence of running-induced acute fatigue on the homeostasis of the body is essential to mitigate the adverse effects and optimize positive adaptations to training. Fatigue is a multifactorial phenomenon, which influences biomechanical, physiological, and psychological facets. This work aimed to assess the evolution of these three facets with acute fatigue during a half-marathon. 13 recreational runners were equipped with one inertial measurement unit (IMU) on each foot, one combined global navigation satellite system-IMU-electrocardiogram sensor on the chest, and an Android smartphone equipped with an audio recording application. Spatio-temporal parameters for the running gait, along with the heart rate, its variability and complexity were computed using validated algorithms. Perceived fatigability was assessed using the rating-of-fatigue (ROF) scale at every 10 min of the race. The data was split into eight equal segments, corresponding to at least one ROF value per segment, and only level running parts were retained for analysis. During the race, contact time, duty factor, and trunk anteroposterior acceleration increased, and the foot strike angle and vertical stiffness decreased significantly. Heart rate showed a progressive increase, while the metrics for heart rate variability and complexity decreased during the race. The biomechanical parameters showed a significant alteration even with a small change in perceived fatigue, whereas the heart rate dynamics altered at higher changes. When divided into two groups, the slower runners presented a higher change in heart rate dynamics throughout the race than the faster runners; they both showed similar trends for the gait parameters. When tested for linear and non-linear correlations, heart rate had the highest association with biomechanical parameters, while the trunk anteroposterior acceleration had the lowest association with heart rate dynamics. These results indicate the ability of faster runners to better judge their physiological limits and hint toward a higher sensitivity of perceived fatigue to neuromuscular changes in the running gait. This study highlights measurable influences of acute fatigue, which can be studied only through concurrent measurement of biomechanical, physiological, and psychological facets of running in real-world conditions.

Technical validation of real-world monitoring of gait: a multicentric observational study

INTRODUCTION

Existing mobility endpoints based on functional performance, physical assessments and patient self-reporting are often affected by lack of sensitivity, limiting their utility in clinical practice. Wearable devices including inertial measurement units (IMUs) can overcome these limitations by quantifying digital mobility outcomes (DMOs) both during supervised structured assessments and in real-world conditions. The validity of IMU-based methods in the real-world, however, is still limited in patient populations. Rigorous validation procedures should cover the device metrological verification, the validation of the algorithms for the DMOs computation specifically for the population of interest and in daily life situations, and the users' perspective on the device.

METHODS AND ANALYSIS

This protocol was designed to establish the technical validity and patient acceptability of the approach used to quantify digital mobility in the real world by Mobilise-D, a consortium funded by the European Union (EU) as part of the Innovative Medicine Initiative, aiming at fostering regulatory approval and clinical adoption of DMOs.After defining the procedures for the metrological verification of an IMU-based device, the experimental procedures for the validation of algorithms used to calculate the DMOs are presented. These include laboratory and real-world assessment in 120 participants from five groups: healthy older adults; chronic obstructive pulmonary disease, Parkinson's disease, multiple sclerosis, proximal femoral fracture and congestive heart failure. DMOs extracted from the monitoring device will be compared with those from different reference systems, chosen according to the contexts of observation. Questionnaires and interviews will evaluate the users' perspective on the deployed technology and relevance of the mobility assessment.

ETHICS AND DISSEMINATION

The study has been granted ethics approval by the centre's committees (London-Bloomsbury Research Ethics committee; Helsinki Committee, Tel Aviv Sourasky Medical Centre; Medical Faculties of The University of Tübingen and of the University of Kiel). Data and algorithms will be made publicly available.

TRIAL REGISTRATION NUMBER

ISRCTN (12246987).

A wearable multi-sensor system for real world gait analysis

Gait analysis is commonly performed in standardized environments, but there is a growing interest in assessing gait also in ecological conditions. In this regard, an important limitation is the lack of an accurate mobile gold standard for validating any wearable system, such as continuous monitoring devices mounted on the trunk or wrist. This study therefore deals with the development and validation of a new wearable multi-sensor-based system for digital gait assessment in free-living conditions. In particular, results obtained from five healthy subjects during lab-based and real-world experiments were presented and discussed. The in-lab validation, which assessed the accuracy and reliability of the proposed system, shows median percentage errors smaller than 2% in the estimation of spatio-temporal parameters. The system also proved to be easy to use, comfortable to wear and robust during the out-of-lab acquisitions, showing its feasibility for free-living applications.

Extension of the Rigid-Constraint Method for the Heuristic Suboptimal Parameter Tuning to Ten Sensor Fusion Algorithms Using Inertial and Magnetic Sensing

The orientation of a magneto-inertial measurement unit can be estimated using a sensor fusion algorithm (SFA). However, orientation accuracy is greatly affected by the choice of the SFA parameter values which represents one of the most critical steps. A commonly adopted approach is to fine-tune parameter values to minimize the difference between estimated and true orientation. However, this can only be implemented within the laboratory setting by requiring the use of a concurrent gold-standard technology. To overcome this limitation, a Rigid-Constraint Method (RCM) was proposed to estimate suboptimal parameter values without relying on any orientation reference. The RCM method effectiveness was successfully tested on a single-parameter SFA, with an average error increase with respect to the optimal of 1.5 deg. In this work, the applicability of the RCM was evaluated on 10 popular SFAs with multiple parameters under different experimental scenarios. The average residual between the optimal and suboptimal errors amounted to 0.6 deg with a maximum of 3.7 deg. These encouraging results suggest the possibility to properly tune a generic SFA on different scenarios without using any reference. The synchronized dataset also including the optical data and the SFA codes are available online.

BROAD—A Benchmark for Robust Inertial Orientation Estimation

Inertial measurement units (IMUs) enable orientation, velocity, and position estimation in several application domains ranging from robotics and autonomous vehicles to human motion capture and rehabilitation engineering. Errors in orientation estimation greatly affect any of those motion parameters. The present work explains the main challenges in inertial orientation estimation (IOE) and presents an extensive benchmark dataset that includes 3D inertial and magnetic data with synchronized optical marker-based ground truth measurements, the Berlin Robust Orientation Estimation Assessment Dataset (BROAD). The BROAD dataset consists of 39 trials that are conducted at different speeds and include various types of movement. Thereof, 23 trials are performed in an undisturbed indoor environment, and 16 trials are recorded with deliberate magnetometer and accelerometer disturbances. We furthermore propose error metrics that allow for IOE accuracy evaluation while separating the heading and inclination portions of the error and introduce well-defined benchmark metrics. Based on the proposed benchmark, we perform an exemplary case study on two widely used openly available IOE algorithms. Due to the broad range of motion and disturbance scenarios, the proposed benchmark is expected to provide valuable insight and useful tools for the assessment, selection, and further development of inertial sensor fusion methods and IMU-based application systems.

Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All

The orientation of a magneto and inertial measurement unit (MIMU) is estimated by means of sensor fusion algorithms (SFAs) thus enabling human motion tracking. However, despite several SFAs implementations proposed over the last decades, there is still a lack of consensus about the best performing SFAs and their accuracy. As suggested by recent literature, the filter parameters play a central role in determining the orientation errors. The aim of this work is to analyze the accuracy of ten SFAs while running under the best possible conditions (i.e., their parameter values are set using the orientation reference) in nine experimental scenarios including three rotation rates and three commercial products. The main finding is that parameter values must be specific for each SFA according to the experimental scenario to avoid errors comparable to those obtained when the default parameter values are used. Overall, when optimally tuned, no statistically significant differences are observed among the different SFAs in all tested experimental scenarios and the absolute errors are included between 3.8 deg and 7.1 deg. Increasing the rotation rate generally leads to a significant performance worsening. Errors are also influenced by the MIMU commercial model. SFA MATLAB implementations have been made available online.

Inertial-Based Human Motion Capture: A Technical Summary of Current Processing Methodologies for Spatiotemporal and Kinematic Measures

Inertial-based motion capture (IMC) has been suggested to overcome many of the limitations of traditional motion capture systems. The validity of IMC is, however, suggested to be dependent on the methodologies used to process the raw data collected by the inertial device. The aim of this technical summary is to provide researchers and developers with a starting point from which to further develop the current IMC data processing methodologies used to estimate human spatiotemporal and kinematic measures. The main workflow pertaining to the estimation of spatiotemporal and kinematic measures was presented, and a general overview of previous methodologies used for each stage of data processing was provided. For the estimation of spatiotemporal measures, which includes stride length, stride rate, and stance/swing duration, measurement thresholding and zero-velocity update approaches were discussed as the most common methodologies used to estimate such measures. The methodologies used for the estimation of joint kinematics were found to be broad, with the combination of Kalman filtering or complimentary filtering and various sensor to segment alignment techniques including anatomical alignment, static calibration, and functional calibration methods identified as being most common. The effect of soft tissue artefacts, device placement, biomechanical modelling methods, and ferromagnetic interference within the environment, on the accuracy and validity of IMC, was also discussed. Where a range of methods have previously been used to estimate human spatiotemporal and kinematic measures, further development is required to reduce estimation errors, improve the validity of spatiotemporal and kinematic estimations, and standardize data processing practices. It is anticipated that this technical summary will reduce the time researchers and developers require to establish the fundamental methodological components of IMC prior to commencing further development of IMC methodologies, thus increasing the rate of development and utilisation of IMC.

Surface Electromyography Applied to Gait Analysis: How to Improve Its Impact in Clinics?

Surface electromyography (sEMG) is the main non-invasive tool used to record the electrical activity of muscles during dynamic tasks. In clinical gait analysis, a number of techniques have been developed to obtain and interpret the muscle activation patterns of patients showing altered locomotion. However, the body of knowledge described in these studies is very seldom translated into routine clinical practice. The aim of this work is to analyze critically the key factors limiting the extensive use of these powerful techniques among clinicians. A thorough understanding of these limiting factors will provide an important opportunity to overcome limitations through specific actions, and advance toward an evidence-based approach to rehabilitation based on objective findings and measurements.

Validation of Spatiotemporal and Kinematic Measures in Functional Exercises Using a Minimal Modeling Inertial Sensor Methodology

This study proposes a minimal modeling magnetic, angular rate and gravity (MARG) methodology for assessing spatiotemporal and kinematic measures of functional fitness exercises. Thirteen healthy persons performed repetitions of the squat, box squat, sandbag pickup, shuffle-walk, and bear crawl. Sagittal plane hip, knee, and ankle range of motion (ROM) and stride length, stride time, and stance time measures were compared for the MARG method and an optical motion capture (OMC) system. The root mean square error (RMSE), mean absolute percentage error (MAPE), and Bland–Altman plots and limits of agreement were used to assess agreement between methods. Hip and knee ROM showed good to excellent agreement with the OMC system during the squat, box squat, and sandbag pickup (RMSE: 4.4–9.8°), while ankle ROM agreement ranged from good to unacceptable (RMSE: 2.7–7.2°). Unacceptable hip and knee ROM agreement was observed for the shuffle-walk and bear crawl (RMSE: 3.3–8.6°). The stride length, stride time, and stance time showed good to excellent agreement between methods (MAPE: (3.2 ± 2.8)%–(8.2 ± 7.9)%). Although the proposed MARG-based method is a valid means of assessing spatiotemporal and kinematic measures during various exercises, further development is required to assess the joint kinematics of small ROM, high velocity movements.