Portable Gait Lab: Estimating Over-Ground 3D Ground Reaction Forces Using Only a Pelvis IMU

Mohamed Irfan Mohamed Refai; Bert-Jan F van Beijnum; Jaap H Buurke; Peter H Veltink

doi:10.3390/s20216363

Portable Gait Lab: Estimating Over-Ground 3D Ground Reaction Forces Using Only a Pelvis IMU

Sensors (Basel). 2020 Nov 7;20(21):6363. doi: 10.3390/s20216363.

Authors

Mohamed Irfan Mohamed Refai¹, Bert-Jan F van Beijnum¹, Jaap H Buurke^{1

2}, Peter H Veltink¹

Affiliations

¹ Biomedical Signals and Systems, University of Twente, 7522NB Enschede, The Netherlands.
² Roessingh Research and Development, 7522AH Enschede, The Netherlands.

Abstract

As an alternative to force plates, an inertial measurement unit (IMU) at the pelvis can offer an ambulatory method for measuring total center of mass (CoM) accelerations and, thereby, the ground reaction forces (GRF) during gait. The challenge here is to estimate the 3D components of the GRF. We employ a calibration procedure and an error state extended Kalman filter based on an earlier work to estimate the instantaneous 3D GRF for different over-ground walking patterns. The GRF were then expressed in a body-centric reference frame, to enable an ambulatory setup not related to a fixed global frame. The results were validated with ForceShoes^TM, and the average error in estimating instantaneous shear GRF was 5.2 ± 0.5% of body weight across different variable over-ground walking tasks. The study shows that a single pelvis IMU can measure 3D GRF in a minimal and ambulatory manner during over-ground gait.

Keywords: ambulatory; ground reaction forces; inertial measurement units; minimal sensing; wearables.

MeSH terms

Acceleration
Biomechanical Phenomena
Gait Analysis / methods*
Humans
Pelvis
Walking*

Grants and funding

14905/Nederlandse Organisatie voor Wetenschappelijk Onderzoek