Real-time kinematic-based detection of foot-strike during walking
Real-time kinematic-based detection of foot-strike during walking
复制标题
基于运动学的步行过程中足部触地的实时检测
DOI：
10.1016/j.jbiomech.2021.110849
复制
发表时间：
2021
影响因子：
2.4
通讯作者：
Artemiadis, Panagiotis
中科院分区：
文献类型：
--
作者：
Karakasis, Chrysostomos;Artemiadis, Panagiotis
脚撞击事件的检测是步态分析的一个组成部分，因为它允许步态周期的时间注册。同时，对于与人体步态同步工作的可穿戴辅助设备和步态生物反馈等应用，需要实时配准步态相位。尽管已经提出了许多算法用于利用可穿戴（例如，惯性测量单元（伊穆斯））或非可穿戴（例如，测力板）传感器来检测脚撞击，但是非常需要仅依赖于记录腿部运动的运动学的实时算法。这项工作提出了一种新的和有效的运动学算法，称为脚垂直和垂直位置算法（F-VESPA），它有几个优点比现有的方法。首先，它使用运动学数据准确地估计脚撞击事件，而不需要访问未来的数据点，从而在实时实施期间实现减少的延迟。此外，它不需要调整所使用的参数，使其对不同的对象和跑步机速度具有鲁棒性。该算法是在一个大的受试者在不同的跑步机速度进行测试，它被证明优于现有的突出的运动学算法，甚至离线实现。使用150 Hz的数据采集系统，F-VESPA实现了33 ms的中位数为检测脚撞击的总真实误差。F-VESPA是一种高度响应的运动学算法，可以实时检测足部撞击事件，具有高准确性，鲁棒性和减少的延迟，从而实现步态周期的实时时间配准。
Detection of foot-strike events is an integral part of gait analysis, as it allows the temporal registration of gait cycles. At the same time, it is necessary to register gait phases in real-time for applications such as wearable assistive devices and gait biofeedback that work synchronously with the human gait. Although many algorithms have been proposed for detecting foot-strikes with either wearable (e.g. Inertial Measurement Units (IMUs)) or non-wearable (e.g. force plates) sensors, there is a great need for real-time algorithms that rely only on recording the kinematics of the leg motion. This work proposes a novel and efficient kinematic algorithm, called the Foot VErtical & Sagittal Position Algorithm (F-VESPA), which has several advantages over existing methods. First, it accurately estimates foot-strike events using kinematic data without requiring access to future data points, hence achieving reduced latency during real-time implementation. Moreover, it does not require tuning of the utilized parameters, rendering it robust to different subjects and treadmill speeds. The algorithm is tested in a large set of subjects across various treadmill speeds, and it is shown to outperform even offline implementations of existing prominent kinematic algorithms. Using a 150 Hz data collection system, the F-VESPA achieved a median of 33 ms for the total true errors in detecting foot-strike. The F-VESPA is a highly responsive kinematic algorithm that can detect foot-strike events in real-time, with high accuracy, robustness and reduced latency, enabling real-time temporal registration of gait cycles.