Early recognition of gait initiation and termination using wearable sensors

Domen Novak, Peter Rebersek, Tadej Beravs, Janez Podobnik, Marko Munih, Stefano Marco Maria De Rossi, Marco Donati, Tommaso Lenzi, Nicola Vitiello, Maria Chiara Carrozza

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an approach for early recognition of gait initiation and termination using wearable inertial measurement units and pressure-sensitive insoles. Body joint angles, ground reaction force and center of plantar pressure of each foot are obtained from these sensors and input into a supervised learning algorithm. For gait initiation, the algorithm detects two events: gait onset (the first detectable change from the baseline state) and toe-off. For gait termination, the algorithm segments gait into different steps, measures the signals over a window at the beginning of each step, and determines whether the measurement belongs to the final step. The approach is validated with 10 subjects at two different gait speeds, with both within-subject and subject-independent crossvalidation. Results show that the inertial measurement units are generally more useful than insoles during both gait initiation and termination, though combining both types of sensors results in better onset detection and easier segmentation of gait into different steps. However, for best performance the algorithms should be trained for each subject separately, and the gait termination recognition algorithm is not very robust with regard to gait speed.

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages1937-1942
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/TerritoryItaly
CityRome
Period6/24/126/27/12

Keywords

  • gait
  • intention detection
  • wearable computing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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