Real-time gait event detection for lower limb amputees using a single wearable sensor

This paper presents a rule-based real-time gait event/phase detection system (R-GEDS) using a shank mounted inertial measurement unit (IMU) for lower limb amputees during the level ground walking. Development of the algorithm is based on the shank angular velocity in the sagittal plane and linear acceleration signal in the shank longitudinal direction. System performance was evaluated with four control subjects (CS) and one transfemoral amputee (TFA) and the results were validated with four FlexiForce footswitches (FSW). The results showed a data latency for initial contact (IC) and toe off (TO) within a range of ± 40 ms for both CS and TFA. A delay of about 3.7 ± 62 ms for a foot-flat start (FFS) and an early detection of -9.4 ± 66 ms for heel-off (HO) was found for CS. Prosthetic side showed an early detection of -105 ± 95 ms for FFS whereas intact side showed a delay of 141 ±73 ms for HO. The difference in the kinematics of the TFA and CS is one of the potential reasons for high variations in the time difference. Overall, detection accuracy was 99.78% for all the events in both groups. Based on the validated results, the proposed system can be used to accurately detect the temporal gait events in real-time that leads to the detection of gait phase system and therefore, can be utilized in gait analysis applications and the control of lower limb prostheses.

[1]  Atila Yilmaz,et al.  Application of neural based estimation algorithm for gait phases of above knee prosthesis , 2015, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[2]  Jan Rueterbories,et al.  Methods for gait event detection and analysis in ambulatory systems. , 2010, Medical engineering & physics.

[3]  Kamiar Aminian,et al.  Spatio-temporal parameters of gait measured by an ambulatory system using miniature gyroscopes. , 2002, Journal of biomechanics.

[4]  Hafiz Farhan Maqbool,et al.  Real-time gait event detection for transfemoral amputees during ramp ascending and descending , 2015, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[5]  Jung-Keun Lee,et al.  Quasi real-time gait event detection using shank-attached gyroscopes , 2011, Medical & Biological Engineering & Computing.

[6]  H.J. Stam,et al.  Automated estimation of initial and terminal contact timing using accelerometers; development and validation in transtibial amputees and controls , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[7]  Joseph M. Czerniecki.  Gait analysis in the amputee: Has it helped the amputee or contributed to the development of improved prosthetic components? , 1995 .

[8]  Q Li,et al.  Walking speed estimation using a shank-mounted inertial measurement unit. , 2010, Journal of biomechanics.

[9]  Xavier Crevoisier,et al.  Quantitative estimation of foot-flat and stance phase of gait using foot-worn inertial sensors. , 2013, Gait & posture.

[10]  Syed Mahfuzul Aziz,et al.  Identification of Foot Pathologies Based on Plantar Pressure Asymmetry , 2015, Sensors.

[11]  Paola Catalfamo,et al.  Gait Event Detection on Level Ground and Incline Walking Using a Rate Gyroscope , 2010, Sensors.

[12]  M.R. Popovic,et al.  A reliable gait phase detection system , 2001, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[13]  Catherine Dehollain,et al.  Gait assessment in Parkinson's disease: toward an ambulatory system for long-term monitoring , 2004, IEEE Transactions on Biomedical Engineering.

[14]  P. Sardain,et al.  Foot contact event detection using kinematic data in cerebral palsy children and normal adults gait. , 2009, Gait & posture.

[15]  Alfred D. Grant.  Gait Analysis: Normal and Pathological Function , 2010 .

[16]  Thomas Seel,et al.  Experimental Evaluation of a Novel Inertial Sensor Based Realtime Gait Phase De-tection Algorithm , 2015 .

[17]  Alpha Agape Gopalai,et al.  A robust real-time gait event detection using wireless gyroscope and its application on normal and altered gaits. , 2015, Medical engineering & physics.