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Background: With 100,000 total knee arthroplasty (TKA) procedures taking place in the United Kingdom annually, the demand on rehabilitation services is high. Most regimes are home-based. Without clinician-patient interaction, detection of rehabilitation concerns can be delayed, reducing the chance of successful early intervention. Wearable technologies, such as MotionSense TM (Stryker, US), may offer a solution to this problem by remotely supporting post-operative TKA rehabilitation through the provision of personalised rehabilitation and tracking of home exercises, enabling healthcare professionals to continuously monitor rehabilitation progress remotely. Validation of such devices against a known kinematic model in activities of daily living is important for confident interpretation of resulting clinical data. The aim of this study therefore was to validate the accuracy of MotionSense TM against a clinical motion capture standard., Methods: Twenty younger and 14 older healthy, able-bodied adults attended one testing session (Younger: 24 ± 4 years old; Older: 71 ± 5 years old). Movement was tracked using Vicon motion analysis and a Plug-In-Gait lower body model was applied to all participants. Three activities were performed - walking, stair ascent, stair descent. The knee flexion angle root mean square error (RMSE) between the technologies was determined., Results: For both groups the knee flexion RMSE remained below 3° for all activities. The combined RMSE for all adults was 2.4° for walking, 2.7° for stair ascent, and 2.6° for stair descent. The signed error increased during the swing phase of gait., Conclusion: MotionSense TM was found to accurately estimate knee flexion angles during several common activities compared to Vicon motion capture., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 The Author(s). Published by Elsevier B.V. All rights reserved.)

Camptocormia, a severe flexion deformity of the spine, presents challenges in monitoring its progression outside laboratory settings. This study introduces a customized method utilizing four inertial measurement unit (IMU) sensors for continuous recording of the camptocormia angle (CA), incorporating both the consensual malleolus and perpendicular assessment methods. The setup is wearable and mobile and allows measurements outside the laboratory environment. The practicality for measuring CA across various activities is evaluated for both the malleolus and perpendicular method in a mimicked Parkinson disease posture. Multiple activities are performed by a healthy volunteer. Measurements are compared against a camera-based reference system. Results show an overall root mean squared error (RMSE) of 4.13° for the malleolus method and 2.71° for the perpendicular method. Furthermore, patient-specific calibration during the standing still with forward lean activity significantly reduced the RMSE to 2.45° and 1.68° respectively. This study presents a novel approach to continuous CA monitoring outside the laboratory setting. The proposed system is suitable as a tool for monitoring the progression of camptocormia and for the first time implements the malleolus method with IMU. It holds promise for effectively monitoring camptocormia at home., Competing Interests: Declarations Ethical approval and consent to participate All experimental procedures involving human subjects were approved by the institution’s ethical review board under file number D 548/19 and were conducted with informed consent according to the Declaration of Helsinki. Conflict of interest The authors declare no competing interests., (© 2024. The Author(s).)

Objective assessments of shoulder motion are paramount for effective rehabilitation and evaluation of surgical outcomes. Inertial Measurement Units (IMU) have demonstrated promise in providing unbiased movement data. This study is dedicated to evaluating the concurrent construct validity and accuracy of a wearable IMU-based sensor system, called "Motion Shirt", for the assessment of shoulder motion arcs in patients awaiting shoulder replacement surgery. This evaluation was conducted by comparing Motion Shirt data with the Dartfish Motion Analyzer software during the Functional Impairment Test-Hand and Neck/Shoulder/Arm (FIT-HaNSA) test.
Thirteen patients (age>50), who were awaiting shoulder replacement surgery, were recruited. The Motion Shirt was employed to measure angular shoulder movements in two planes during the FIT-HaNSA test. Simultaneously, two cameras recorded the participants' movements to provide reference data. Bland-Altman plots were generated to visualize agreement between the Motion Shirt and the reference data obtained from the Dartfish Motion Analyzer software. 
The data analysis on Bland-Altman plots revealed a substantial level of agreement between the Motion Shirt and Dartfish analysis in measuring shoulder motion. In Task-1, no significant systematic errors were exhibited, with only 3.27% and 2.18% of points exceeding the limits of agreement (LOA) in both elevation and the Plane of Elevation (POE), signifying a high level of concordance. In Task-2, a high level of agreement was also observed in Elevation, with only 3.8% of points exceeding the LOA. However, 5.98% of points exceeded LOA in POE for Task-2. In Task-3, focused on sustained overhead activity, the Motion Shirt showed strong agreement with Dartfish in Elevation (2.44% points exceeded LOA), but in POE, 7.32% points exceeded LOA.
The Motion Shirt demonstrated a robust concordance with Dartfish Motion Analyzer system in assessing shoulder motion during the FIT-HaNSA test. These results affirm the Motion Shirt's suitability for objective motion analysis in patients awaiting shoulder replacement surgery.&#xD., (Creative Commons Attribution license.)

The purpose of this paper is to describe ongoing research on appropriate instrumentation and analysis techniques to characterize postural stability, postural agility, and dynamic stability, which collectively comprise the postural control spectrum. This study had a specific focus on using emerging sensors to develop protocols suitable for use outside laboratory or clinical settings. First, we examined the optimal number and placement of wearable accelerometers for assessing postural stability. Next, we proposed metrics and protocols for assessing postural agility with the use of a custom force plate-controlled video game. Finally, we proposed a method to quantify dynamic stability during walking tasks using novel frequency-domain metrics extracted from acceleration data obtained with a single body-worn IMU. In each of the three studies, a surrogate for instability was introduced, and the sensors and metrics discussed in this paper show promise for differentiating these trials from stable condition trials. Next steps for this work include expanding the tested population size and refining the methods to even more reliably and unobtrusively characterize postural control status in a variety of scenarios.

Snake robots require autonomous localization and mapping capabilities for field applications. However, the characteristics of their motion, such as large turning angles and fast rotation speeds, can lead to issues like drift or even failure in positioning and map building. In response to this situation, this paper starts from the gait motion characteristics of the snake robot itself, proposing an improved gait motion method and a tightly coupled method based on IMU and visual information to solve the problem of poor algorithm convergence caused by head-shaking in snake robot SLAM. Firstly, the adaptability of several typical gaits of the snake robot to SLAM methods was evaluated. Secondly, the serpentine gait was selected as the object of gait improvement, and a head stability control method for the snake robot was proposed, thereby reducing the interference of the snake robot's motion on the sensors. Thirdly, a visual-inertial tightly coupled SLAM method for the snake robot's serpentine gait and Arc-Rolling gait was proposed, and the method was verified to enhance the robustness of the visual SLAM algorithm and improve the positioning and mapping accuracy of the snake robot. Finally, experiments proved that the methods proposed in this paper can effectively improve the accuracy of positioning and map building for snake robots.

Wearable technologies such as inertial measurement units (IMUs) can be used to evaluate human gait and improve mobility, but sensor fixation is still a limitation that needs to be addressed. Therefore, aim of this study was to create a machine learning algorithm to predict gait events using a single IMU mimicking the carrying of a smartphone. Fifty-two healthy adults (35 males/17 females) walked on a treadmill at various speeds while carrying a surrogate smartphone in the right hand, front right trouser pocket, and right jacket pocket. Ground-truth gait events (e.g. heel strikes and toe-offs) were determined bilaterally using a gold standard optical motion capture system. The tri-dimensional accelerometer and gyroscope data were segmented in 20-ms windows, which were labelled as containing or not the gait events. A long-short term memory neural network (LSTM-NN) was used to classify the 20-ms windows as containing the heel strike or toe-off for the right or left legs, using 80% of the data for training and 20% of the data for testing. The results demonstrated an overall accuracy of 92% across all phone positions and walking speeds, with a slightly higher accuracy for the right-side predictions (∼94%) when compared to the left side (∼91%). Moreover, we found a median time error <3% of the gait cycle duration across all speeds and positions (∼77 ms). Our results represent a promising first step towards using smartphones for remote gait analysis without requiring IMU fixation, but further research is needed to enhance generalizability and explore real-world deployment.

The aim of the current study was to compare the reliability and validity of jump variables determined from torso- and waist-worn inertial measurement units (IMU) in comparison to force platform measures. Twenty-seven students-athletes completed eight countermovement (CMJ) and squat jumps (SJ) on a force platform with IMUs mounted on the pelvis and torso. Variables including jump height and phase-specific duration, impulse and power were calculated from force platform and both IMUs independently. Considering both IMU locations, the coefficients of variation (CV) observed for all CMJ variables were ≤ 2.5 % larger than the force platform with the exception of concentric impulse with the torso-worn worn IMU (6.9 %). Differences in CVs observed between IMU and force platform variables appeared greater in the SJ. For velocity-derived jump height and concentric impulse from both IMU placements, and torso-worn IMU mean power, CVs were > 2.5 % larger than the force platform. Both IMU placements overestimated jump height determined by flight time (+22 to +35 %) and underestimated jump height determined by take-off velocity (-10 to -18 %). In conclusion, the reliability of IMU metrics was largely comparable to the force platform. However, systematic bias was observed for most metrics. Practitioners should exercise caution if seeking to model jump performance with IMUs., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 Elsevier Ltd. All rights reserved.)

Step counting devices were previously shown to be efficient in a variety of applications such as athletic training or patient's care programs. Various sensor placements and algorithms were previously experimented, with a best mean absolute percentage error (MAPE) close to 1% in simple mono-activity walking conditions. In this study, an existing running shoe was first instrumented with an inertial measurement unit (IMU) and used in the context of multi-activity trials, at various speeds, and including several transition phases. A total of 21 participants with diverse profiles (gender, age, BMI, activity style) completed the trial. The data recorded was used to develop a step counting algorithm based on a deep learning approach, and further validated against a k-fold cross validation process. The results revealed that the step counts were highly correlated to gyroscopes and accelerometers norms, and secondarily to vertical acceleration. Reducing input data to only those three vectors showed a very small decrease in the prediction performance. After the fine-tuning of the algorithm, a MAPE of 0.75% was obtained. Our results show that such very high performances can be expected even in multi-activity conditions and with low computational resource needs making this approach suitable for embedded devices.

Background: Gait variables assessed by inertial measurement units (IMUs) show promise as screening tools for aging-related diseases like sarcopenia. The main aims of this systematic review were to analyze and synthesize the scientific evidence for screening sarcopenia based on gait variables assessed by IMUs, and also to review articles that investigated which gait variables assessed by IMUs were related to sarcopenia., Methods: Six electronic databases (PubMed, SportDiscus, Web of Science, Cochrane Library, Scopus and IEEE Xplore) were searched for journal articles related to gait, IMUs and sarcopenia. The search was conducted until December 5, 2023. Titles, abstracts and full-length texts for studies were screened to be included., Results: A total of seven articles were finally included in this review. Despite some methodological variability among the included studies, IMUs demonstrated potential as effective tools for detecting sarcopenia when coupled with artificial intelligence (AI) models, which outperformed traditional statistical methods in classification accuracy. The findings suggest that gait variables related to the stance phase such as stance duration, double support time, and variations between feet, are key indicators of sarcopenia., Conclusions: IMUs could be useful tools for sarcopenia screening based on gait analysis, specifically when artificial intelligence is used to process the recorded data. However, more development and research in this field is needed to provide an effective screening tool for doctors and health systems., (© 2024. The Author(s).)

Introduction: The shift of the horse breeding sector from agricultural to leisure and sports purposes led to a decrease in local breeds' population size due to the loss of their original breeding purposes. Most of the Italian breeds must adapt to modern market demands, and gait traits are suitable phenotypes to help this process. Inertial measurement unit (IMU) technology can be used to objectively assess them. This work aims to investigate on IMU recorded data (i) the influence of environmental factors and biometric measurements, (ii) their repeatability, (iii) the correlation with judge evaluations, and (iv) their predictive value., Material and Methods: The Equisense Motion S ® was used to collect phenotypes on 135 horses, Bardigiano (101) and Murgese (34) and the data analysis was conducted using R (v.4.1.2). Analysis of variance (ANOVA) was employed to assess the effects of biometric measurements and environmental and animal factors on the traits., Results and Discussion: Variations in several traits depending on the breed were identified, highlighting different abilities among Bardigiano and Murgese horses. Repeatability of horse performance was assessed on a subset of horses, with regularity and elevation at walk being the traits with the highest repeatability (0.63 and 0.72). The positive correlation between judge evaluations and sensor data indicates judges' ability to evaluate overall gait quality. Three different algorithms were employed to predict the judges score from the IMU measurements: Support Vector Machine (SVM), Gradient Boosting Machine (GBM), and K-Nearest Neighbors (KNN). A high variability was observed in the accuracy of the SVM model, ranging from 55 to 100% while the other two models showed higher consistency, with accuracy ranging from 74 to 100% for the GBM and from 64 to 88% for the KNN. Overall, the GBM model exhibits the highest accuracy and the lowest error. In conclusion, integrating IMU technology into horse performance evaluation offers valuable insights, with implications for breeding and training., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Asti, Ablondi, Molle, Zanotti, Vasini and Sabbioni.)

As the natural conclusion of talent identification in sports, talent development is the process that involves improving biomechanical capacities and bio-motor abilities. The development progress can be objectively assessed and monitored through measurements of trainability. This study introduces a practical methodology to assess motor control as a trainable factor using kinematic data. The study focused on establishing the relationship between kinematic data and changes in muscle strength and dynamic balance. It illustrates how wearable technology can assess trainability during a functional training programme. Twenty-six female university students were selected and divided into intervention and control groups to investigate motor control trainability. The intervention group performed step aerobics exercises for 24 sessions. A single inertial measurement unit (IMU) mounted on S1 captured the oscillatory motion profiles of the centre of mass during these rhythmic exercises. Analysis revealed that the amplitude of linear jerk variability in different anatomical planes could reflect core and lower limb muscle strengthening caused by training. Furthermore, the results indicated that the dynamic balance adaptation to the changing tempo throughout the training programme was dictated primarily by step width. The mediolateral linear jerk variability reflected this adaptation. The minimum instrumentation approach proposed by this study could prove very practical for the talent development monitoring. The methodology illustrates how the recorded kinematic data from an appropriately placed single IMU could become an information-rich source for the coach to monitor, assess and quantify the trainee's progress during long-term athletic development., Competing Interests: Declaration of conflicting interestsThe author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

The use of inertial measurement units (IMUs) as an alternative to optical marker-based systems has the potential to make gait analysis part of the clinical standard of care. Previously, an IMU-based system leveraging Rauch-Tung-Striebel smoothing to estimate knee angles was assessed using a six-degrees-of-freedom joint simulator. In a clinical setting, however, accurately measuring abduction/adduction and external/internal rotation of the knee joint is particularly challenging, especially in the presence of soft tissue artefacts. In this study, the in vivo IMU-based joint angles of 40 asymptomatic knees were assessed during level walking, under two distinct sensor placement configurations: (1) IMUs fixed to a rigid harness, and (2) IMUs mounted on the skin using elastic hook-and-loop bands (from here on referred to as "skin-mounted IMUs"). Estimates were compared against values obtained from a harness-mounted optical marker-based system. The comparison of these three sets of kinematic signals (IMUs on harness, IMUs on skin, and optical markers on harness) was performed before and after implementation of a REference FRame Alignment MEthod (REFRAME) to account for the effects of differences in coordinate system orientations. Prior to the implementation of REFRAME, in comparison to optical estimates, skin-mounted IMU-based angles displayed mean root-mean-square errors (RMSEs) up to 6.5°, while mean RMSEs for angles based on harness-mounted IMUs peaked at 5.1°. After REFRAME implementation, peak mean RMSEs were reduced to 4.1°, and 1.5°, respectively. The negligible differences between harness-mounted IMUs and the optical system after REFRAME revealed that the IMU-based system was capable of capturing the same underlying motion pattern as the optical reference. In contrast, obvious differences between the skin-mounted IMUs and the optical reference indicated that the use of a harness led to fundamentally different joint motion being measured, even after accounting for reference frame misalignments. Fluctuations in the kinematic signals associated with harness use suggested the rigid device oscillated upon heel strike, likely due to inertial effects from its additional mass. Our study proposes that optical systems can be successfully replaced by more cost-effective IMUs with similar accuracy, but further investigation (especially in vivo and upon heel strike) against moving videofluoroscopy is recommended.

In its chronic and non-specific form, low back pain is experienced by a large percentage of the population; its persistence impacts the quality of life and increases costs to the health care system. In recent years, the scientific literature highlights how treatment based on assessment and functional recovery is effective through IMU technology with biofeedback or exergaming as part of the tools available to assist the evaluation and treatment of these patients, who present not only with symptoms affecting the lumbar spine but often also incorrect postural attitudes. Aim: Evaluate the impact of technology, based on inertial sensors with biofeedback or exergaming, in patients with chronic non-specific low back pain. A systematic review of clinical studies obtained from PubMed, Scopus, Science Direct, and Web of Science databases from 1 January 2016 to 1 July 2024 was conducted, developing the search string based on keywords and combinations of terms with Boolean AND/OR operators; on the retrieved articles were applied inclusion and exclusion criteria. The procedure of publication selection will be represented with the PRISMA diagram, the risk of bias through the RoB scale 2, and methodological validity with the PEDro scale. Eleven articles were included, all RCTs, and most of the publications use technology with exergaming within about 1-2 months. Of the outcomes measured, improvements were reported in pain, disability, and increased function; the neuropsychological sphere related to experiencing the pathology underwent improvements. From the results obtained, the efficacy of using technology based on exergames and inertial sensors, in patients with chronic non-specific low back pain, was increased. Further clinical studies are required to achieve more uniformity in the proposed treatment to create a common guideline for health care providers.

The Internet of Health Things (IoHT) is a broader version of the Internet of Things. The main goal is to intervene autonomously from geographically diverse regions and provide low-cost preventative or active healthcare treatments. Smart wearable IMUs for human motion analysis have proven to provide valuable insights into a person's psychological state, activities of daily living, identification/re-identification through gait signatures, etc. The existing literature, however, focuses on specificity i.e., problem-specific deep models. This work presents a generic BiGRU-CNN deep model that can predict the emotional state of a person, classify the activities of daily living, and re-identify a person in a closed-loop scenario. For training and validation, we have employed publicly available and closed-access datasets. The data were collected with wearable inertial measurement units mounted non-invasively on the bodies of the subjects. Our findings demonstrate that the generic model achieves an impressive accuracy of 96.97% in classifying activities of daily living. Additionally, it re-identifies individuals in closed-loop scenarios with an accuracy of 93.71% and estimates emotional states with an accuracy of 78.20%. This study represents a significant effort towards developing a versatile deep-learning model for human motion analysis using wearable IMUs, demonstrating promising results across multiple applications.

The aim of this contribution is to present a segmentation method for the identification of voluntary movements from inertial data acquired through a single inertial measurement unit placed on the subject's wrist. Inertial data were recorded from 25 healthy subjects while performing 75 consecutive reach-to-grasp movements. The approach herein presented, called DynAMoS, is based on an adaptive thresholding step on the angular velocity norm, followed by a statistics-based post-processing on the movement duration distribution. Post-processing aims at reducing the number of erroneous transitions in the movement segmentation. We assessed the segmentation quality of this method using a stereophotogrammetric system as the gold standard. Two popular methods already presented in the literature were compared to DynAMoS in terms of the number of movements identified, onset and offset mean absolute errors, and movement duration. Moreover, we analyzed the sub-phase durations of the drinking movement to further characterize the task. The results show that the proposed method performs significantly better than the two state-of-the-art approaches (i.e., percentage of erroneous movements = 3%; onset and offset mean absolute error < 0.08 s), suggesting that DynAMoS could make more effective home monitoring applications for assessing the motion improvements of patients following domicile rehabilitation protocols.

Boat acceleration profiles can provide valuable information for coaches and practitioners to make meaningful technical interventions and monitor the determinants of success in rowing. Previous studies have used simple feature detection methods to identify key phases within individual strokes, such as drive onset, drive time, drive offset and stroke time. However, based on skill level, technique or boat class, the hull acceleration profile can differ, making robust feature detection more challenging. The current study's purpose is to employ the undecimated wavelet transform (UWT) technique to detect individual features in the stroke acceleration profile from a single rowing hull-mounted accelerometer. In this investigation, the temporal and kinematic values obtained using the AdMos TM sensor in conjunction with the UWT processing approach were strongly correlated with the comparative measures of the Peach™ instrumented oarlock system. The measures for stroke time displayed very strong agreeability between the systems for all boat classes, with ICC values of 0.993, 0.963 and 0.954 for the W8+, W4- and W1x boats, respectively. Similarly, the drive time was also very consistent, with strong to very strong agreeability, producing ICC values of 0.937, 0.901 and 0.881 for the W8+, W4- and W1x boat classes. Further, a Bland-Altman analysis displayed little to no bias between the AdMos TM -derived and Peach™ measures, indicating that there were no systematic discrepancies between signals. This single-sensor solution could form the basis for a simple, cost-effective and accessible alternative to multi-sensor instrumented systems for the determination of sub-stroke kinematic phases.

Background: As one of the leading causes of disability in the world, stroke can determine a reduction of balance performance with a negative impact on daily activity and social life. In this study, we aimed to evaluate the effects of sensor-based balance training with exergaming feedback on balance skills in chronic stroke patients., Methods: 21 individuals (11F, 57.14 ± 13.82 years) with a single event of ischemic stroke were randomly assigned to the sensor-based balance training group (SB-group) or the usual care balance training group (UC-group). Both groups received 10 add-on sessions with exergaming feedback (SB-group) or conventional training (UC-group). Clinical and instrumental evaluation was performed before (t0), after (t1), and after one month (t2) from intervention. Participation level was assessed using the Pittsburgh Rehabilitation Participation Scale at the end of each session., Results: The SB-group showed an improvement in postural stability ( p = 0.02) when compared to the UC-group. In the evaluation of motivational level, the score was statistically higher in the SB-group with respect to the UC-group ( p < 0.01)., Conclusion: Except for the improvement in postural stability, no difference was recorded in clinical score, suggesting a comparable gain in both groups. However, patients undergoing sensor-based training exhibited a higher participation score, ultimately indicating the use of this training to improve the adherence to rehabilitation settings, especially in patients with lower compliance.

To address the low docking accuracy of existing robotic wheelchair/beds, this study proposes an automatic docking framework integrating light detection and ranging (LIDAR), visual positioning, and laser ranging. First, a mobile chassis was designed for an intelligent wheelchair/bed with independent four-wheel steering. In the remote guidance phase, the simultaneous localization and mapping (SLAM) algorithm was employed to construct an environment map, achieving remote guidance and obstacle avoidance through the integration of LIDAR, inertial measurement unit (IMU), and an improved A* algorithm. In the mid-range pose determination and positioning phase, the IMU module and vision system on the wheelchair/bed collected coordinate and path information marked by quick response (QR) code labels to adjust the relative pose between the wheelchair/bed and bed frame. Finally, in the short-range precise docking phase, laser triangulation ranging was utilized to achieve precise automatic docking between the wheelchair/bed and the bed frame. The results of multiple experiments show that the proposed method significantly improves the docking accuracy of the intelligent wheelchair/bed., Competing Interests: Author XT was employed by Hunan Victor Petrotech Service Co., Ltd. The remaining authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Lei, Tang and Tang.)

Introduction: Wearable exoskeletons assist individuals with mobility impairments, enhancing their gait and quality of life. This study presents the iP3T model, designed to optimize gait phase prediction through the fusion of multimodal time-series data., Methods: The iP3T model integrates data from stretch sensors, inertial measurement units (IMUs), and surface electromyography (sEMG) to capture comprehensive biomechanical and neuromuscular signals. The model's architecture leverages transformer-based attention mechanisms to prioritize crucial data points. A series of experiments were conducted on a treadmill with five participants to validate the model's performance., Results: The iP3T model consistently outperformed traditional single-modality approaches. In the post-stance phase, the model achieved an RMSE of 1.073 and an R 2 of 0.985. The integration of multimodal data enhanced prediction accuracy and reduced metabolic cost during assisted treadmill walking., Discussion: The study highlights the critical role of each sensor type in providing a holistic understanding of the gait cycle. The attention mechanisms within the iP3T model contribute to its interpretability, allowing for effective optimization of sensor configurations and ultimately improving mobility and quality of life for individuals with gait impairments., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Chen, Wang, Xiao, Wu, Wang, Liu, Wang, Chen and Wu.)

While the analysis of gait and balance can be an important indicator of age- or disease-related changes, it remains unclear if repeated performance of gait and balance tests in healthy adults leads to habituation effects, if short-term gait and balance training can improve gait and balance performance, and whether the placement of wearable sensors influences the measurement accuracy. Healthy adults were assessed before and after performing weekly gait and balance tests over three weeks by using a force plate, motion capturing system and smartphone. The intervention group (n = 25) additionally received a home-based gait and balance training plan. Another sample of healthy adults (n = 32) was assessed once to analyze the impact of sensor placement (lower back vs. lower abdomen) on gait and balance analysis. Both the control and intervention group exhibited improvements in gait/stance. However, the trends over time were similar for both groups, suggesting that targeted training and repeated task performance equally contributed to the improvement of the measured variables. Since no significant differences were found in sensor placement, we suggest that a smartphone used as a wearable sensor could be worn both on the lower abdomen and the lower back in gait and balance analyses.

Ground reaction force (GRF) data is often collected for the biomechanical analysis of running, due to the performance and injury risk insights that GRF analysis can provide. Traditional methods typically limit GRF collection to controlled lab environments, recent studies have looked to combine the ease of use of wearable sensors with the statistical power of machine learning to estimate continuous GRF data outside of these restrictions. Before such systems can be deployed with confidence outside of the lab they must be shown to be a valid and accurate tool for a wide range of users. The aim of this study was to evaluate how accurately a consumer-priced sensor system could estimate GRFs whilst a heterogeneous group of runners completed a treadmill protocol with three different personalised running speeds and three gradients. Fifty runners (25 female, 25 male) wearing pressure insoles made up of 16 resistive sensors and an inertial measurement unit ran at various speeds and gradients on an instrumented treadmill. A long short term memory (LSTM) neural network was trained to estimate both vertical ( G R F v ) and anteroposterior ( G R F a p ) force traces using leave one subject out validation. The average relative root mean squared error (rRMSE) was 3.2% and 3.1%, respectively. The mean ( G R F v ) rRMSE across the evaluated participants ranged from 0.8% to 8.8% and from 1.3% to 17.3% in the ( G R F a p ) estimation. The findings from this study suggest that current consumer-priced sensors could be used to accurately estimate two-dimensional GRFs for a wide range of runners at a variety of running intensities. The estimated kinetics could be used to provide runners with individualised feedback as well as form the basis of data collection for running injury risk factor studies on a much larger scale than is currently possible with lab based methods., Competing Interests: Author Grant Trewartha was a former employee at Nurvv Ltd. when this project started. Nurvv Ltd. has since been dissolved., (© 2024 Carter et al.)

The utilization of inertial measurement units as wearable sensors is proliferating across various domains, such as health care, sports, and rehabilitation. This expansion has produced a market of devices tailored to accommodate very specific ranges of operational demands. Simultaneously, this growth is creating opportunities for the development of a new class of devices more oriented towards general-purpose use and capable of capturing both high-frequency signals for short-term, event-driven motion analysis and low-frequency signals for extended monitoring. For such a design, which combines flexibility and low cost, a rigorous evaluation of the device in terms of deviation, noise levels, and precision is essential. This evaluation is crucial for identifying potential improvements and refining the design accordingly, yet it is rarely addressed in the literature. This paper presents the development process of such a device. The results of the design process demonstrate acceptable performance in optimizing energy consumption and storage capacity while highlighting the most critical optimizations needed to advance the device towards the goal of a smart, general-purpose unit for human motion monitoring.

Purpose: This study aimed to assess the feasibility of early detection of fatigued gait patterns for older adults through the development of a smart portable device., Methods: The smart device incorporated seven force sensors and a single inertial measurement unit (IMU) to measure regional plantar forces and foot kinematics. Data were collected from 18 older adults walking briskly on a treadmill for 60 min. The optimal feature set for each recognition model was determined using forward sequential feature selection in a wrapper fashion through fivefold cross-validation. The recognition model was selected from four machine learning models through leave-one-subject-out cross-validation., Results: Five selected characteristics that best represented the state of fatigue included impulse at the medial and lateral arches (increased, p = 0.002 and p < 0.001), contact angle and rotation range of angle in the sagittal plane (increased, p < 0.001), and the variability of the resultant swing angular acceleration (decreased, p < 0.001). The detection accuracy based on the dual signal source of IMU and plantar force was 99%, higher than the 95% accuracy based on the single source. The intelligent portable device demonstrated excellent generalization (ranging from 93 to 100%), real-time performance (2.79 ms), and portability (32 g)., Conclusion: The proposed smart device can detect fatigue patterns with high precision and in real time., Significance: The application of this device possesses the potential to reduce the injury risk for older adults related to fatigue during gait., (© 2024. The Author(s).)

Human Activity Recognition (HAR), alongside Ambient Assisted Living (AAL), are integral components of smart homes, sports, surveillance, and investigation activities. To recognize daily activities, researchers are focusing on lightweight, cost-effective, wearable sensor-based technologies as traditional vision-based technologies lack elderly privacy, a fundamental right of every human. However, it is challenging to extract potential features from 1D multi-sensor data. Thus, this research focuses on extracting distinguishable patterns and deep features from spectral images by time-frequency-domain analysis of 1D multi-sensor data. Wearable sensor data, particularly accelerator and gyroscope data, act as input signals of different daily activities, and provide potential information using time-frequency analysis. This potential time series information is mapped into spectral images through a process called use of 'scalograms', derived from the continuous wavelet transform. The deep activity features are extracted from the activity image using deep learning models such as CNN, MobileNetV3, ResNet, and GoogleNet and subsequently classified using a conventional classifier. To validate the proposed model, SisFall and PAMAP2 benchmark datasets are used. Based on the experimental results, this proposed model shows the optimal performance for activity recognition obtaining an accuracy of 98.4% for SisFall and 98.1% for PAMAP2, using Morlet as the mother wavelet with ResNet-101 and a softmax classifier, and outperforms state-of-the-art algorithms.

The inertial motion unit (IMU) is an effective tool for monitoring and assessing gait impairment in patients with lumbar disc herniation(LDH). However, the current clinical assessment methods for LDH gait focus on patients' subjective scoring indicators and lack the assessment of kinematic ability; at the same time, individual differences in the motor function degradation of the healthy and affected lower limbs of LDH patients are also ignored. To solve this problem, we propose an LDH gait feature model based on multi-source adaptive Kalman data fusion of acceleration and angular velocity. The gait phase is segmented by using an adaptive Kalman data fusion algorithm to estimate the attitude angle, and obtaining gait events through a zero-velocity update technique and a peak detection algorithm. Two IMUs were used to analyze the gait characteristics of lumbar disc patients and healthy gait people, including 12 gait characteristics such as gait spatiotemporal parameters, kinematic parameters, gait variability and stability. Statistical methods were used to analyze the characteristic model and verify the biological differences between the healthy affected side of LDH and healthy subjects. Finally, feature engineering and machine learning technology were used to identify the gait pattern of inertial movement units in patients with lumbar intervertebral disc disease, and achieved a classification accuracy of 95.50%, providing an effective gait feature set and method for clinical evaluation of LDH.

Hand-intensive work is strongly associated with work-related musculoskeletal disorders (WMSDs) of the hand/wrist and other upper body regions across diverse occupations, including office work, manufacturing, services, and healthcare. Addressing the prevalence of WMSDs requires reliable and practical exposure measurements. Traditional methods like electrogoniometry and optical motion capture, while reliable, are expensive and impractical for field use. In contrast, small inertial measurement units (IMUs) may provide a cost-effective, time-efficient, and user-friendly alternative for measuring hand/wrist posture during real work. This study compared six orientation algorithms for estimating wrist angles with an electrogoniometer, the current gold standard in field settings. Six participants performed five simulated hand-intensive work tasks (involving considerable wrist velocity and/or hand force) and one standardised hand movement. Three multiplicative Kalman filter algorithms with different smoothers and constraints showed the highest agreement with the goniometer. These algorithms exhibited median correlation coefficients of 0.75-0.78 for flexion/extension and 0.64 for radial/ulnar deviation across the six subjects and five tasks. They also ranked in the top three for the lowest mean absolute differences from the goniometer at the 10th, 50th, and 90th percentiles of wrist flexion/extension (9.3°, 2.9°, and 7.4°, respectively). Although the results of this study are not fully acceptable for practical field use, especially for some work tasks, they indicate that IMU-based wrist angle estimation may be useful in occupational risk assessments after further improvements.

The motivation behind this research is the lack of an underground mining shaft data set in the literature in the form of open access. For this reason, our data set can be used for many research purposes such as shaft inspection, 3D measurements, simultaneous localization and mapping, artificial intelligence, etc. The data collection method incorporates rotated Velodyne VLP-16, Velodyne Ultra Puck VLP-32c, Livox Tele-15, IMU Xsens MTi-30 and Faro Focus 3D. The ground truth data were acquired with a geodetic survey including 15 ground control points and 6 Faro Focus 3D terrestrial laser scanner stations of a total 273,784,932 of 3D measurement points. This data set provides an end-user case study of realistic applications in mobile mapping technology. The goal of this research was to fill the gap in the underground mining data set domain. The result is the first open-access data set for an underground mining shaft (shaft depth -300 m).

Background: Telerehabilitation is a promising avenue for improving patient outcomes and expanding accessibility. However, there is currently no spine-related assessment for telerehabilitation that covers multiple exercises., Methods: We propose a wearable system with two inertial measurement units (IMUs) to identify IMU locations and estimate spine angles for ten commonly prescribed spinal degeneration rehabilitation exercises (supine chin tuck head lift rotation, dead bug unilateral isometric hold, pilates saw, catcow full spine, wall angel, quadruped neck flexion/extension, adductor open book, side plank hip dip, bird dog hip spinal flexion, and windmill single leg). Twelve healthy subjects performed these spine-related exercises, and wearable IMU data were collected for spine angle estimation and IMU location identification., Results: Results demonstrated average mean absolute spinal angle estimation errors of 2.59 ∘ and average classification accuracy of 92.97%. The proposed system effectively identified IMU locations and assessed spine-related rehabilitation exercises while demonstrating robustness to individual differences and exercise variations., Conclusion: This inexpensive, convenient, and user-friendly approach to spine degeneration rehabilitation could potentially be implemented at home or provide remote assessment, offering a promising avenue to enhance patient outcomes and improve accessibility for spine-related rehabilitation., Trial Registration: No. E2021013P in Shanghai Jiao Tong University., (© 2024. The Author(s).)

Laboratory studies have limitations in screening for anterior cruciate ligament (ACL) injury risk due to their lack of ecological validity. Machine learning (ML) methods coupled with wearable sensors are state-of-art approaches for joint load estimation outside the laboratory in athletic tasks. The aim of this study was to investigate ML approaches in predicting knee joint loading during sport-specific agility tasks. We explored the possibility of predicting high and low knee abduction moments (KAMs) from kinematic data collected in a laboratory setting through wearable sensors and of predicting the actual KAM from kinematics. Xsens MVN Analyze and Vicon motion analysis, together with Bertec force plates, were used. Talented female football (soccer) players (n = 32, age 14.8 ± 1.0 y, height 167.9 ± 5.1 cm, mass 57.5 ± 8.0 kg) performed unanticipated sidestep cutting movements (number of trials analyzed = 1105). According to the findings of this technical note, classification models that aim to identify the players exhibiting high or low KAM are preferable to the ones that aim to predict the actual peak KAM magnitude. The possibility of classifying high versus low KAMs during agility with good approximation (AUC 0.81-0.85) represents a step towards testing in an ecologically valid environment.

Objective: To establish the concurrent validity, acceptability, and sensor optimization of a consumer-grade, wearable, multi-sensor system to capture quantity and quality metrics of mobility and upper limb movements in stroke survivors., Design: Single-session, cross-sectional., Setting: Clinical research laboratory., Participants: Thirty chronic stroke survivors (age 57 (10) years; 33% female) with mild to severe motor impairments participated., Interventions: Not Applicable., Main Outcome Measures: Participants donned 5 sensors and performed standardized assessments of mobility and upper limb (UL) movement. True/false, positive/negative time in active movement for the UL were calculated and compared to criterion-standards using an accuracy rate. Bland-Altman plots and linear regression models were used to establish concurrent validity of UL movement counts, step counts, and stance time symmetry of MiGo against established criterion-standard measures. Acceptability and sensor optimization were assessed through an end-user survey and decision matrix., Results: Mobility metrics showed excellent association with criterion-standards for step counts (video: r=0.988, P<.001, IMU: r=0.921, P<.001) and stance-time symmetry (r=0.722, P<.001). In the UL, movement counts showed excellent to good agreement (paretic: r=0.849, P<.001, nonparetic: r=0.672, P<.001). Accuracy of active movement time was 85.2% (paretic) and 88.0% (nonparetic) UL. Most participants (63.3%) had difficulty donning/doffing the sensors. Acceptability was high (4.2/5)., Conclusions: The sensors demonstrated excellent concurrent validity for mobility metrics and UL movements of stroke survivors. Acceptability of the system was high, but alternative wristbands should be considered., (Copyright © 2024 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.)

Recently, inertial measurement units have been gaining popularity as a potential alternative to optical motion capture systems in the analysis of joint kinematics. In a previous study, the accuracy of knee joint angles calculated from inertial data and an extended Kalman filter and smoother algorithm was tested using ground truth data originating from a joint simulator guided by fluoroscopy-based signals. Although high levels of accuracy were achieved, the experimental setup leveraged multiple iterations of the same movement pattern and an absence of soft tissue artefacts. Here, the algorithm is tested against an optical marker-based system in a more challenging setting, with single iterations of a loaded squat cycle simulated on seven cadaveric specimens on a force-controlled knee rig. Prior to the optimisation of local coordinate systems using the REference FRame Alignment MEthod (REFRAME) to account for the effect of differences in local reference frame orientation, root-mean-square errors between the kinematic signals of the inertial and optical systems were as high as 3.8° ± 3.5° for flexion/extension, 20.4° ± 10.0° for abduction/adduction and 8.6° ± 5.7° for external/internal rotation. After REFRAME implementation, however, average root-mean-square errors decreased to 0.9° ± 0.4° and to 1.5° ± 0.7° for abduction/adduction and for external/internal rotation, respectively, with a slight increase to 4.2° ± 3.6° for flexion/extension. While these results demonstrate promising potential in the approach's ability to estimate knee joint angles during a single loaded squat cycle, they highlight the limiting effects that a reduced number of iterations and the lack of a reliable consistent reference pose inflicts on the sensor fusion algorithm's performance. They similarly stress the importance of adapting underlying assumptions and correctly tuning filter parameters to ensure satisfactory performance. More importantly, our findings emphasise the notable impact that properly aligning reference-frame orientations before comparing joint kinematics can have on results and the conclusions derived from them.

Introduction: Inertial Measurement Units (IMU) require a sensor-to-segment calibration procedure in order to compute anatomically accurate joint angles and, thereby, be employed in healthcare and rehabilitation. Research literature proposes several algorithms to address this issue. However, determining an optimal calibration procedure is challenging due to the large number of variables that affect elbow joint angle accuracy, including 3D joint axis, movement performed, complex anatomy, and notable skin artefacts. Therefore, this paper aims to compare three types of calibration techniques against an optical motion capture reference system during several movement tasks to provide recommendations on the most suitable calibration for the elbow joint. Methods: Thirteen healthy subjects were instrumented with IMU sensors and optical marker clusters. Each participant performed a series of static poses and movements to calibrate the instruments and, subsequently, performed single-plane and multi-joint tasks. The metrics used to evaluate joint angle accuracy are Range of Motion (ROM) error, Root Mean Squared Error (RMSE), and offset. We performed a three-way RM ANOVA to evaluate the effect of joint axis and movement task on three calibration techniques: N-Pose (NP), Functional Calibration (FC) and Manual Alignment (MA). Results: Despite small effect sizes in ROM Error, NP displayed the least precision among calibrations due to interquartile ranges as large as 24.6°. RMSE showed significant differences among calibrations and a large effect size where MA performed best (RMSE = 6.3°) and was comparable with FC (RMSE = 7.2°). Offset showed a large effect size in the calibration*axes interaction where FC and MA performed similarly. Conclusion: Therefore, we recommend MA as the preferred calibration method for the elbow joint due to its simplicity and ease of use. Alternatively, FC can be a valid option when the wearer is unable to hold a predetermined posture., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest. The author(s) declared that they were an editorial board member of Frontiers, at the time of submission. This had no impact on the peer review process and the final decision., (Copyright © 2024 Bonfiglio, Tacconi, Bongers and Farella.)

Monitoring of ingestive activities is critically important for managing the health and wellness of individuals with various health conditions, including the elderly, diabetics, and individuals seeking better weight control. Monitoring swallowing events can be an ideal surrogate for developing streamlined methods for effective monitoring and quantification of eating or drinking events. Swallowing is an essential process for maintaining life. This seemingly simple process is the result of coordinated actions of several muscles and nerves in a complex fashion. In this study, we introduce automated methods for the detection and quantification of various eating and drinking activities. Wireless surface electromyography (sEMG) was used to detect chewing and swallowing from sEMG signals obtained from the sternocleidomastoid muscle, in addition to signals obtained from a wrist-mounted IMU sensor. A total of 4675 swallows were collected from 55 participants in the study. Multiple methods were employed to estimate bolus volumes in the case of fluid intake, including regression and classification models. Among the tested models, neural networks-based regression achieved an R 2 of 0.88 and a root mean squared error of 0.2 (minimum bolus volume was 10 ml). Convolutional neural networks-based classification (when considering each bolus volume as a separate class) achieved an accuracy of over 99% using random cross-validation and around 66% using cross-subject validation. Multiple classification methods were also used for solid bolus type detection, including SVM and decision trees (DT), which achieved an accuracy above 99% with random validation and above 94% in cross-subject validation. Finally, regression models with both random and cross-subject validation were used for estimating the solid bolus volume with an R 2 value that approached 1 and root mean squared error values as low as 0.00037 (minimum solid bolus weight was 3 gm). These reported results lay the foundation for a cost-effective and non-invasive method for monitoring swallowing activities which can be extremely beneficial in managing various chronic health conditions, such as diabetes and obesity., (© 2024. The Author(s).)

The increasing use of inertial measurement units (IMU) in biomedical sciences brings new possibilities for clinical research. The aim of this paper is to demonstrate the accuracy of the IMU-based wearable Syde ® device, which allows day-long and remote continuous gait recording in comparison to a reference motion capture system. Twelve healthy subjects (age: 23.17 ± 2.04, height: 174.17 ± 6.46 cm) participated in a controlled environment data collection and performed a series of gait tasks with both systems attached to each ankle. A total of 2820 strides were analyzed. The results show a median absolute stride length error of 1.86 cm between the IMU-based wearable device reconstruction and the motion capture ground truth, with the 75th percentile at 3.24 cm. The median absolute stride horizontal velocity error was 1.56 cm/s, with the 75th percentile at 2.63 cm/s. With a measurement error to the reference system of less than 3 cm, we conclude that there is a valid physical recovery of stride length and horizontal velocity from data collected with the IMU-based wearable Syde ® device.

Investigating acute stress responses is crucial to understanding the underlying mechanisms of stress. Current stress assessment methods include self-reports that can be biased and biomarkers that are often based on complex laboratory procedures. A promising additional modality for stress assessment might be the observation of body movements, which are affected by negative emotions and threatening situations. In this paper, we investigated the relationship between acute psychosocial stress induction and body posture and movements. We collected motion data from N = 59 individuals over two studies (Pilot Study: N = 20, Main Study: N = 39) using inertial measurement unit (IMU)-based motion capture suits. In both studies, individuals underwent the Trier Social Stress Test (TSST) and a stress-free control condition (friendly-TSST; f-TSST) in randomized order. Our results show that acute stress induction leads to a reproducible freezing behavior, characterized by less overall motion as well as more and longer periods of no movement. Based on these data, we trained machine learning pipelines to detect acute stress solely from movement information, achieving an accuracy of 75.0 ± 17.7 % (Pilot Study) and 73.4 ± 7.7 % (Main Study). This, for the first time, suggests that body posture and movements can be used to detect whether individuals are exposed to acute psychosocial stress. While more studies are needed to further validate our approach, we are convinced that motion information can be a valuable extension to the existing biomarkers and can help to obtain a more holistic picture of the human stress response. Our work is the first to systematically explore the use of full-body body posture and movement to gain novel insights into the human stress response and its effects on the body and mind., (© 2024. The Author(s).)

Background: Falls are a major public health problem among older adults since they are a primary cause of injuries, functional decline and mortality. Identifying individuals susceptible to falls enables early intervention and prevention strategies. Currently, wearable sensors have emerged as a promising tool for assessing balance and mobility due to their affordability, compact size, and established efficacy. Therefore, the objective of the present study was to evaluate inertial measurement unit (IMU)-based postural sway metrics during quiet stance with four different bases of support and compare them among elderly individuals who are at risk of falling and those who are not., Methods: A triaxial IMU prototype was developed for evaluating postural sway during quiet stance, with various bases of support. Totally, 103 elderly participants with mean age of 68.5 ± 5.7 years were included. Sway metrics, including the root mean square (RMS) of magnitude, summation of range of signal (Range), summation of sway area (SA) and summation of distance (SD) were employed to detect sway perturbations., Results: All of the sway metrics revealed a significantly increasing magnitude of signal trajectory with a decreasing base of support. When comparing IMU sway metrics between groups of individuals at potential risk and non-risk of falls, statistically significant differences were observed in some variables, including RMS, Range, and SA during semi-tandem stance, and Range and SA during one-leg standing., Conclusions: The findings support earlier studies that demonstrated the objective nature of the IMU in assessing balance and predicting future risk of falls. Limited significant findings in this study may be due to the lower sampling rate of the IMU prototype (50 Hz) compared to commonly reported frequencies (100 Hz), as well as the inclusion of elderly ambulatory participants who were capable of being independent in their daily activities. The IMU is capable of providing comprehensive data, and detecting subtle changes, early signs of balance impairment and fall tendencies., Competing Interests: None to declare., (Copyright 2024, Kongsawasdi et al.)

Ultra-wideband (UWB) has gained increasing interest for providing real-time positioning to robots in GPS-denied environments. For a robot to act on this information, it also requires its heading. This is, however, not provided by UWB. To overcome this, either multiple tags are used to create a local reference frame connected to the robot or a single tag is combined with ego-motion estimation from odometry or Inertial Measurement Unit (IMU) measurements. Both odometry and the IMU suffer from drift, and it is common to use a magnetometer to correct the drift on the heading; however, magnetometers tend to become unreliable in typical GPS-denied environments. To overcome this, a lightweight particle filter was designed to run in real time. The particle filter corrects the ego-motion heading and location drift using the UWB measurements over a moving horizon time frame. The algorithm was evaluated offline using data sets collected from a ground robot that contains line-of-sight (LOS) and non-line-of-sight conditions. An RMSE of 13 cm and 0.12 (rad) was achieved with four anchors in the LOS condition. It is also shown that it can be used to provide the robot with real-time position and heading information for the robot to act on it in LOS conditions, and it is shown to be robust in both experimental conditions.

Background: Fine and gross motor tasks are usually used to evaluate behavioral dysfunctions and can be applied to diseases of the central nervous system, such as fibromyalgia (FM). Non-linear measures have allowed for deeper motor control analysis, focusing on the process and on the quality of movement. Therefore, to assess uncertainty, irregularity, and structural richness of a time series, different algorithms of entropy can be computed. The aim of this study was to (i) verify the single-scale and multiscale entropy values in fine and gross motor movements and (ii) to verify whether fine and gross motor tasks are sensitive to characterizing FM patients., Methods: The sample consisted of 20 females (46.2 ± 12.8 years) divided in two groups, an experimental group with 10 FM subjects and a control group with 10 subjects without FM. Inertial sensors were used to collect the finger tapping test (FTT), walking, and sit-and-stand task data., Results: Regarding fine motor skills, patients with FM showed a loss of structural richness (complexity), but they had information processing with greater control in the FTT, probably to simplify task execution and for correction of the movement. On the other hand, people without FM seemed to have more automatic control of the movement when performed with the preferred hand and exhibited similar difficulties to the FM group when performed with the non-preferred hand. Gross motor tasks showed similar entropy values for both groups., Conclusions: The results show that FM patients have movement controls primarily at the level of the motor cortex, whereas people without FM perform movement at the medullary level, especially in fine motor tasks, indicating that the FTT is sensitive to the presence of FM, especially when performed with the preferred hand.

Inertial measurement units (IMUs) are key components of various applications including navigation, robotics, aerospace, and automotive systems. IMU sensor characteristics have a significant impact on the accuracy and reliability of these applications. In particular, noise characteristics and bias stability are critical for proper filter settings to perform a combined GNSS/IMU solution. This paper presents an analysis based on the Allan deviation of different IMU sensors that correspond to different grades of micro-electromechanical systems (MEMS)-type IMUs in order to evaluate their accuracy and stability over time. The study covers three IMU sensors of different grades (ascending order): Rokubun Argonaut navigator sensor (InvenSense TDK MPU9250), Samsung Galaxy Note10 phone sensor (STMicroelectronics LSM6DSR), and NovAtel PwrPak7 sensor (Epson EG320N). The noise components of the sensors are computed using overlapped Allan deviation analysis on data collected over the course of a week in a static position. The focus of the analysis is to characterize the random walk noise and bias stability, which are the most critical for combined GNSS/IMU navigation and may differ or may not be listed in manufacturers' specifications. Noise characteristics are calculated for the studied sensors and examples of their use in loosely coupled GNSS/IMU processing are assessed. This work proposes a structured and reproducible approach for working with sensors for their use in navigation tasks in combination with GNSS, and can be used for sensors of different levels to supplement missing or incorrect sensor manufacturers' data.

Tremor, bradykinesia, and rigidity are incapacitating motor symptoms that can be suppressed with stereotactic neurosurgical treatment like deep brain stimulation (DBS) and ablative surgery (e.g., thalamotomy, pallidotomy). Traditionally, clinicians rely on clinical rating scales for intraoperative evaluation of these motor symptoms during awake stereotactic neurosurgery. However, these clinical scales have a relatively high inter-rater variability and rely on experienced raters. Therefore, objective registration (e.g., using movement sensors) is a reasonable extension for intraoperative assessment of tremor, bradykinesia, and rigidity. The main goal of this scoping review is to provide an overview of electronic motor measurements during awake stereotactic neurosurgery. The protocol was based on the PRISMA extension for scoping reviews. After a systematic database search (PubMed, Embase, and Web of Science), articles were screened for relevance. Hundred-and-three articles were subject to detailed screening. Key clinical and technical information was extracted. The inclusion criteria encompassed use of electronic motor measurements during stereotactic neurosurgery performed under local anesthesia. Twenty-three articles were included. These studies had various objectives, including correlating sensor-based outcome measures to clinical scores, identifying optimal DBS electrode positions, and translating clinical assessments to objective assessments. The studies were highly heterogeneous in device choice, sensor location, measurement protocol, design, outcome measures, and data analysis. This review shows that intraoperative quantification of motor symptoms is still limited by variable signal analysis techniques and lacking standardized measurement protocols. However, electronic motor measurements can complement visual evaluations and provide objective confirmation of correct placement of the DBS electrode and/or lesioning. On the long term, this might benefit patient outcomes and provide reliable outcome measures in scientific research., (© 2024. The Author(s).)

Human behaviour detection is relevant in many fields. During navigational tasks it is an indicator for environmental conditions. Therefore, monitoring people while they move along the street network provides insights on the environment. This is especially true for motorcyclists, who have to observe aspects such as road surface conditions or traffic very careful. We thus performed an experiment to check whether IMU data is sufficient to classify motorcyclist behaviour as a data source for later spatial and temporal analysis. The classification was done using XGBoost and proved successful for four out of originally five different types of behaviour. A classification accuracy of approximately 80% was achieved. Only overtake manoeuvrers were not identified reliably.

The dataset proposed is a collection of pedestrian navigation data sequences combining visual and spatial information. The pedestrian navigation sequences are situations encountered by a pedestrian walking in an urban outdoor environment, such as moving on the sidewalk, navigating through a crowd, or crossing a street when the pedestrian light traffic is green. The acquired data are timestamped provided RGB-D images and are associated with GPS, and inertial data (acceleration, rotation). These recordings were acquired by separate processes, avoiding delays during their capture to guarantee a synchronisation between the moment of acquisition by the sensor and the moment of recording on the system. The acquisition was made in the city of Dijon, France, including narrow streets, wide avenues, and parks. Annotations of the RGB-D are also provided by bounding boxes indicating the position of relevant static or dynamic objects present in a pedestrian area, such as a tree, bench, or person. This pedestrian navigation dataset aims to support the development of smart mobile systems to assist visually impaired people in their daily movements in an outdoor environment. In this context, the visual data and localisation sequences we provide can be used to elaborate the appropriate visual processing methods to extract relevant information about the obstacles and their current positions on the path. Alongside the dataset, a visual-to-auditory substitution method has been employed to convert each image sequence into corresponding stereophonic sound files, allowing for comparison and evaluation. Synthetic sequences associated with the same information set are also provided based on the recordings of a displacement within the 3D model of a real place in Dijon., (© 2024 The Author(s).)

Background: Self-reported adherence to sling wear is unreliable due to recall bias. We aim to assess the feasibility and accuracy of quantifying sling wear and non-wear utilising slings pre-fitted with a GENEActiv accelerometer that houses triaxial acceleration and temperature sensors., Methods: Ten participants were asked to wear slings for 480 min (8 h) incorporating 180 min of non-wear time in durations varying from 5-120 min. GENEActiv devices were fitted in sutured inner sling pockets and participants logged sling donning and doffing times. An algorithm based on variability in acceleration in three axes and temperature change was developed to identify sling wear and non-wear and compared to participants' logs., Results: There was no significant difference between algorithm detected non-wear duration (mean ± standard deviation = 172.0 ± 6.8 min/participant) and actual non-wear (179.7 ± 1.0 min/participant). Minute-by-minute agreement of sensor-detected wear and non-wear with participant reported wear was 97.3 ± 1.5% (range = 93.9-99.0), with mean sensitivity 94.3 ± 3.5% (range = 86.1-98.3) and specificity 99.1 ± 0.8% (range = 93.7-100)., Conclusion: An algorithm based on accelerometer-assessed acceleration and temperature can accurately identify shoulder sling wear/non-wear times. This method may have potential for assessing whether sling wear adherence after shoulder surgeries have any bearing on patient functional outcomes.

Highlighting the crucial role of monitoring and quantifying lumbopelvic rhythm for spinal curvature, the Ergotex IMU, a portable, lightweight, cost-effective, and energy-efficient technology, has been specifically designed for the pelvic and lumbar area. This study investigates the concurrent validity of the Ergotex device in measuring sagittal pelvic tilt angle. We utilized an observational, repeated measures design with healthy adult males (mean age: 39.3 ± 7.6 y, body mass: 82.2 ± 13.0 kg, body height: 179 ± 8 cm), comparing Ergotex with a 3D optical tracking system. Participants performed pelvic tilt movements in anterior, neutral, and posterior conditions. Statistical analysis included paired samples t -tests, Bland-Altman plots, and regression analysis. The findings show minimal systematic error (0.08° overall) and high agreement between the Ergotex and optical tracking, with most data points falling within limits of agreement of Bland-Altman plots (around ±2°). Significant differences were observed only in the anterior condition (0.35°, p < 0.05), with trivial effect sizes (ES = 0.08), indicating that these differences may not be clinically meaningful. The high Pearson's correlation coefficients across conditions underscore a robust linear relationship between devices ( r > 0.9 for all conditions). Regression analysis showed a standard error of estimate (SEE) of 1.1° with small effect (standardized SEE < 0.26 for all conditions), meaning that the expected average deviation from the true value is around 1°. These findings validate the Ergotex as an effective, portable, and cost-efficient tool for assessing sagittal pelvic tilt, with practical implications in clinical and sports settings where traditional methods might be impractical or costly.

Background: Neurological gait disorders are mainly classified based on clinical observation, and therefore difficult to objectify or quantify. Movement analysis systems provide objective parameters, which may increase diagnostic accuracy and may aid in monitoring the disease course. Despite the increasing wealth of kinematic movement and balance parameter data, the discriminative value for the differentiation of neurological gait disorders is still unclear. We hypothesized that kinematic motion and balance parameter metrics would be differently altered across neurological gait disorders when compared to healthy controls., Methods: Thirty one patients (9 normal pressure hydrocephalus < NPH > , 16 cervical myelopathy < CM > , 6 lumbar stenosis < LST >) and 14 healthy participants were investigated preoperatively in an outpatient setting using an inertial measurement system (MyoMotion) during 3 different walking tasks (normal walking, dual-task walking with simultaneous backward counting, fast walking). In addition, the natural postural sway of participants was measured by pedobarography, with the eyes opened and closed. The range of motion (ROM) in different joint angles, stride time, as well as sway were compared between different groups (between-subject factor), and different task conditions (within-subject factor) by a mixed model ANOVA., Results: Kinematic metrics and balance parameters were differently altered across different gait disorders compared to healthy controls. Overall, NPH patients significantly differed from controls in all movement parameters except for stride time, while they differed in balance parameters only with regard to AP movement. LST patients had significantly reduced ROMs of the shoulders, hips, and ankles, with significantly altered balance parameters regarding AP movement and passed center-of-pressure (COP) distance. CM patients differed from controls only in the ROM of the hip and ankle, but were affected in nearly all balance parameters, except for force distribution., Conclusion: The application of inertial measurement systems and pedobarography is feasible in an outpatient setting in patients with different neurological gait disorders. Rather than defining singular discriminative values, kinematic gait and balance metrics may provide characteristic profiles of movement parameter alterations in the sense of specific ´gait signatures´ for different pathologies, which could improve diagnostic accuracy by defining objective and quantifiable measures for the discrimination of different neurological gait disorders., Trial Registration: The study was retrospectively registered on the 27th of March 2023 in the 'Deutsches Register für Klinische Studien' under the number DRKS00031555., (© 2024. The Author(s).)

Human-robot cooperation (HRC) is becoming increasingly relevant with the surge in collaborative robots (cobots) for industrial applications. Examples of humans and robots cooperating actively on the same workpiece can be found in research labs around the world, but industrial applications are still mostly limited to robots and humans taking turns. In this paper, we use a cooperative lifting task (co-lift) as a case study to explore how well this task can be learned within a limited time, and how background factors of users may impact learning. The experimental study included 32 healthy adults from 20 to 54 years who performed a co-lift with a collaborative robot. The physical setup is designed as a gamified user training system as research has validated that gamification is an effective methodology for user training. Human motions and gestures were measured using Inertial Measurement Unit (IMU) sensors and used to interact with the robot across three role distributions: human as the leader, robot as the leader, and shared leadership. We find that regardless of age, gender, job category, gaming background, and familiarity with robots, the learning curve of all users showed a satisfactory progression and that all users could achieve successful cooperation with the robot on the co-lift task after seven or fewer trials. The data indicates that some of the background factors of the users such as occupation, past gaming habits, etc. , may affect learning outcomes, which will be explored further in future experiments. Overall, the results indicate that the potential of the adoption of HRC in the industry is promising for a diverse set of users after a relatively short training process., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2024 Venås, Stølen and Kyrkjebø.)

Inertial measurement units (IMUs) need sensor-to-segment calibration to measure human kinematics. Multiple methods exist, but, when assessing populations with locomotor function pathologies, multiple limitations arise, including holding postures (limited by joint pain and stiffness), performing specific tasks (limited by lack of selectivity) or hypothesis on limb alignment (limited by bone deformity and joint stiffness). We propose a sensor-to-bone calibration based on bi-plane X-rays and a specifically designed fusion box to measure IMU orientation with respect to underlying bones. Eight patients undergoing total hip arthroplasty with bi-plane X-rays in their clinical pathway participated in the study. Patients underwent bi-plane X-rays with fusion box and skin markers followed by a gait analysis with IMUs and a marker-based method. The validity of the pelvis, thigh and hip kinematics measured with a conventional sensor-to-segment calibration and with the sensor-to-bone calibration were compared. Results showed (1) the feasibility of the fusion of bi-plane X-rays and IMUs in measuring the orientation of anatomical axes, and (2) higher validity of the sensor-to-bone calibration for the pelvic tilt and similar validity for other degrees of freedom. The main strength of this novel calibration is to remove conventional hypotheses on joint and segment orientations that are frequently violated in pathological populations.

The literature has yielded promising data over the past decade regarding the use of inertial sensors for the analysis of occupational ergonomics. However, despite their significant advantages (e.g., portability, lightness, low cost, etc.), their widespread implementation in the actual workplace has not yet been realized, possibly due to their discomfort or potential alteration of the worker's behaviour. This systematic review has two main objectives: (i) to synthesize and evaluate studies that have employed inertial sensors in ergonomic analysis based on the RULA method; and (ii) to propose an evaluation system for the transparency of this technology to the user as a potential factor that could influence the behaviour and/or movements of the worker. A search was conducted on the Web of Science and Scopus databases. The studies were summarized and categorized based on the type of industry, objective, type and number of sensors used, body parts analysed, combination (or not) with other technologies, real or controlled environment, and transparency. A total of 17 studies were included in this review. The Xsens MVN system was the most widely used in this review, and the majority of studies were classified with a moderate level of transparency. It is noteworthy, however, that there is a limited and worrisome number of studies conducted in uncontrolled real environments.

Objective: To investigate the usefulness of inertial measurement units (IMUs) in the assessment of motor function of the upper limb (UL) in accordance with the international classification of functioning (ICF)., Data Sources: PubMed; Scopus; Embase; WoS and PEDro databases were searched from inception to 1 February 2022., Methods: The current systematic review follows PRISMA recommendations. Articles including IMU assessment of UL in stroke individuals have been included and divided into four ICF categories (b710, b735, b760, d445). We used correlation meta-analysis to pool the Fisher Z-score of each correlation between kinematics and clinical assessment., Results: A total of 35 articles, involving 475 patients, met the inclusion criteria. In the included studies, IMUs have been employed to assess the mobility of joint functions ( n  = 6), muscle tone functions ( n  = 4), control of voluntary movement functions ( n  = 15), and hand and arm use ( n  = 15). A significant correlation was found in overall meta-analysis based on 10 studies, involving 213 subjects: ( r  = 0.69) (95% CI: 0.69/0.98; p  < 0.001) as in the d445 ( r  = 0.71) and b760 ( r  = 0.64) ICF domains, with no heterogeneity across the studies., Conclusion: The literature supports the integration of IMUs and conventional clinical assessment in functional evaluation of the UL after a stroke. The use of a limited number of wearable sensors can provide additional kinematic features of UL in all investigated ICF domains, especially in the ADL tasks when a strong correlation with clinical evaluation was found.

ABSTARCTThe PUSH band 2.0 is a wearable technology used to measure mean and peak velocity and power in strength-based movements. The agreement between the PUSH band 2.0 and the criterion measure (force plates) during progressively loaded squat jumps was assessed. Fifteen participants performed 3 squat jumps at increasing loads. Linear regression and Bland-Altman plots assessed data simultaneously recorded from both devices. Mean velocity and power showed deviation from the identity line and an overestimation of 7.40% and 25%, respectively. Peak velocity and power showed an overestimation of 14% and underestimation of 6%, respectively. The results support the use of Push Band 2.0 to measure velocity during ballistic squat movements. However, errors in power measurement are greater than acceptable to support in-field use. While peak velocity maintains a consistent overestimation bias across various velocities, mean velocity error increases at higher velocities and can only be considered valid at slow velocities.