Stride Lengths during Maximal Linear Sprint Acceleration Obtained with Foot-Mounted Inertial Measurement Units

Impact-Aware Foot Motion Reconstruction and Ramp/Stair Detection Using One Foot-Mounted Inertial Measurement Unit

Motion reconstruction using wearable sensors enables broad opportunities for gait analysis outside laboratory environments. Inertial Measurement Unit (IMU)-based foot trajectory reconstruction is an essential component of estimating the foot motion and user position required for any related biomechanics metrics. However, limitations remain in the reconstruction quality due to well-known sensor noise and drift issues, and in some cases, limited sensor bandwidth and range. In this work, to reduce drift in the height direction and handle the impulsive velocity error at heel strike, we enhanced the integration reconstruction with a novel kinematic model that partitions integration velocity errors into estimates of acceleration bias and heel strike vertical velocity error. Using this model, we achieve reduced height drift in reconstruction and simultaneously accomplish reliable terrain determination among level ground, ramps, and stairs. The reconstruction performance of the proposed method is compared against the widely used Error State Kalman Filter-based Pedestrian Dead Reckoning and integration-based foot-IMU motion reconstruction method with 15 trials from six subjects, including one prosthesis user. The mean height errors per stride are 0.03±0.08 cm on level ground, 0.95±0.37 cm on ramps, and 1.27±1.22 cm on stairs. The proposed method can determine the terrain types accurately by thresholding on the model output and demonstrates great reconstruction improvement in level-ground walking and moderate improvement on ramps and stairs.

Assessing the validity of the zero-velocity update method for sprinting speeds

The zero-velocity update (ZUPT) method has become a popular approach to estimate foot kinematics from foot worn inertial measurement units (IMUs) during walking and running. However, the accuracy of the ZUPT method for stride parameters at sprinting speeds remains unknown, specifically when using sensors with characteristics well suited for sprinting (i.e., high accelerometer and gyroscope ranges and sampling rates). Seventeen participants performed 80-meter track sprints while wearing a Blue Trident IMeasureU IMU. Two cameras, at 20 and 70 meters from the start, were used to validate the ZUPT method on a stride-by-stride and on a cumulative distance basis. In particular, the validity of the ZUPT method was assessed for: (1) estimating a single stride length attained near the end of an 80m sprint (i.e., stride at 70m); (2) estimating cumulative distance from ∼20 to ∼70 m; and (3) estimating total distance traveled for an 80-meter track sprint. Individual stride length errors at the 70-meter mark were within -6% to 3%, with a bias of -0.27%. Cumulative distance errors were within -4 to 2%, with biases ranging from -0.85 to -1.22%. The results of this study demonstrate the ZUPT method provides accurate estimates of stride length and cumulative distance traveled for sprinting speeds.

Concurrent validity of an easy-to-use inertial measurement unit-system to evaluate sagittal plane segment kinematics during overground sprinting at different speeds

This study investigated concurrent validity of inertial measurement units (IMUs) and high-speed video for sagittal plane kinematics during overground sprinting. The practical relevance is demonstrated by reporting the changes in thigh kinematics in relation to toe-off and touch-down of the feet at near maximal to maximal (80-100%) speeds. Sixteen athletes ran multiple 60 m sprints with IMUs on their feet, shanks, thighs, pelvis and trunk. High-speed video data were captured of the start strides and of one complete stride at full speed. Coefficients of multiple correlation with video were >0.99 for angles and angular velocities of the thigh and shank but low for the pelvis and trunk (0.13-0.66). For the limb segment angles (minimum, maximum, at toe-off and at touch-down) absolute biases (limits of agreement) were ≤2.9°(≤7.7°) and for angular velocities the values were ≤57°.s-1(≤93°.s-1). Many of the expected speed-related changes in thigh kinematics were significant (linear mixed effect regression; p < 0.05).In conclusion, an easy-to-use IMU system has good concurrent validity with video, especially for the thigh. It registers the kinematics of all strides in multiple sprints and can detect relatively small changes thereof, including those at key moments of foot-touch-down and toe-off.