Accelerometer and rate gyroscope measurement of kinematics: an inexpensive alternative to optical motion analysis systems
Abstract
A general-purpose system to obtain the kinematics of gait in the sagittal plane based on body-mounted sensors was developed. It consisted of four uniaxial seismic accelerometers and one rate gyroscope per body segment. Tests were done with 10 young healthy volunteers, walking at five different speeds on a treadmill. In order to study the system's accuracy, measurements were made with an optic, passive-marker system and the body-mounted system, simultaneously. In all the comparison cases, the curves obtained from the two systems were very close, showing root mean square errors representing <7% full range in 75% of the cases (overall mean 6.64%, standard deviation 4.13%) and high coefficients of multiple correlation in 100% of cases (overall mean 0.9812, standard deviation 0.02). Calibration of the body-mounted system is done against gravity. The body-mounted sensors do not hinder natural movement. The calculation algorithms are computationally demanding and only are applicable off-line. The body-mounted sensors are accurate, inexpensive and portable and allow long-term recordings in clinical, sport and ergonomics settings.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Gyroscopes in combination with accelerometers record both linear and angular motion, reducing calibration biases.
“Gyroscopes in combination with accelerometers have the advantage that both linear and angular motion is recorded [36], [37], reducing calibration biases.”
From Wearable Accelerometer and Gyroscope Sensors for Estimating the Severity of Essential Tremor (2024) · cites this paper as [37]
Cited by
Sorted by citations
Measuring orientation of human body segments using miniature gyroscopes and accelerometers
Luinge, H. J., & Veltink, P. H. (2005) · Medical & Biological Engineering & Computing · doi:10.1007/bf02345966 · Cited by 647 · see citing works
Self-citationThe use of inertial sensors system for human motion analysis
Cuesta-Vargas, A. I., Galán-Mercant, A., & Williams, J. M. (2010) · Physical Therapy Reviews · doi:10.1179/1743288x11y.0000000006 · Cited by 369 · see citing works
Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing
Sabatini, A. M. (2011) · Sensors · doi:10.3390/s110201489 · Cited by 349 · see citing works
Deep Learning-Based Gait Recognition Using Smartphones in the Wild
Zou, Q., Wang, Y., Wang, Q., Zhao, Y., & Li, Q. (2020) · IEEE Transactions on Information Forensics and Security · doi:10.1109/tifs.2020.2985628 · Cited by 305 · see citing works
Dejnabadi, H., Jolles, B. M., & Aminian, K. (2005) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2005.851475 · Cited by 286 · see citing works
Lipsmeier, F., Taylor, K. I., Kilchenmann, T., Wolf, D., Scotland, A., Schjodt‐Eriksen, J., Cheng, W., Fernandez‐Garcia, I., Siebourg‐Polster, J., Jin, L., et al. (2018) · Movement Disorders · doi:10.1002/mds.27376 · Cited by 266 · see citing works
Dejnabadi, H., Jolles, B. M., Casanova, E., Fua, P., & Aminian, K. (2006) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2006.873678 · Cited by 189 · see citing works
Joint-Angle Measurement Using Accelerometers and Gyroscopes—A Survey
Cheng, P., & Oelmann, B. (2010) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2009.2024367 · Cited by 140 · see citing works
Allum, J. H., & Carpenter, M. G. (2005) · Current Opinion in Neurology · doi:10.1097/00019052-200502000-00005 · Cited by 133 · see citing works
Real-Time Estimation of Pathological Tremor Parameters from Gyroscope Data
Gallego, J., Rocon, E., Roa, J. O., Moreno, J., & Pons, J. L. (2010) · Sensors · doi:10.3390/s100302129 · Cited by 107 · see citing works
Evaluation of a hybrid system for three-dimensional measurement of trunk posture in motion
Plamondon, A., Delisle, A., Larue, C., Brouillette, D., McFadden, D., Desjardins, P., & Larivière, C. (2007) · Applied Ergonomics · doi:10.1016/j.apergo.2006.12.006 · Cited by 102 · see citing works
Bergmann, J. H., Mayagoitia, R. E., & Smith, I. C. (2009) · Dynamic Medicine · doi:10.1186/1476-5918-8-3 · Cited by 88 · see citing works
Gyroscope vs. accelerometer measurements of motion from wrist PPG during physical exercise
Casson, A. J., Vazquez Galvez, A., & Jarchi, D. (2016) · ICT Express · doi:10.1016/j.icte.2016.11.003 · Cited by 57 · see citing works
Wearable Accelerometer and Gyroscope Sensors for Estimating the Severity of Essential Tremor
Ali, S. M., Arjunan, S. P., Peter, J., Perju-Dumbrava, L., Ding, C., Eller, M., Raghav, S., Kempster, P., Motin, M. A., Radcliffe, P. J., et al. (2024) · IEEE Journal of Translational Engineering in Health and Medicine · doi:10.1109/jtehm.2023.3329344 · Cited by 20 · see citing works
Wearable Inertial Sensors and Their Applications
Tamura, T. (2014) · Wearable Sensors · doi:10.1016/b978-0-12-418662-0.00024-6 · Cited by 19 · see citing works
Application of inertial sensors in rehabilitation robotics
Rocon, E., Moreno, J. C., Ruiz, A. F., Brunetti, F., Miranda, J. A., & Pons, J. L. (2007) · 2007 IEEE 10th International Conference on Rehabilitation Robotics · doi:10.1109/icorr.2007.4428420 · Cited by 19 · see citing works
Portable Inertial Motion Unit for Continuous Assessment of In-shoe Foot Movement
Mifsud, N. L., Kristensen, N. H., Villumsen, M., Hansen, J., & Kersting, U. G. (2014) · Procedia Engineering · doi:10.1016/j.proeng.2014.06.035 · Cited by 16 · see citing works
- Authors
- Mayagoitia, R. E., Nene, A. V., & Veltink, P. H.
- Affiliations
- University of Staffordshire (GB)
- Roessingh Research and Development (NL)
- Corresponding author
- Mayagoitia, Ruth E.
- ORCID
- Mayagoitia, Ruth E.
- Venue
- Journal of Biomechanics
- Publisher
- Elsevier BV
- Published
- 2002-04
- Volume
- 35
- Issue
- 4
- Pages
- 537-542
- ISSN
- 0021-9290 (ISSN-L)
- OpenAlex
- W1967159897
- Cited by
- 655
- References
- 0
- Citations by year
- 2026: 4 · 2025: 9 · 2024: 12 · 2023: 17 · 2022: 19 · 2021: 25 · 2020: 39 · 2019: 23 · 2018: 50 · 2017: 49 · 2016: 31 · 2015: 29 · 2014: 42 · 2013: 39 · 2012: 42
- FWCI
- 13.98
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Journal of Biomechanics (publishedVersion)
- PubMed (publishedVersion)
- University of Twente Research Information (publishedVersion)
- Research Portal (King's College London) (submittedVersion)
- University of Twente Research Information (submittedVersion)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Gait Recognition and Analysis
- Physical Sciences › Engineering › Biomedical Engineering › Lower Extremity Biomechanics and Pathologies
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Context-Aware Activity Recognition Systems
- Keywords
- gait kinematics, body-mounted sensors, seismic accelerometers, rate gyroscope, low-cost motion capture, sagittal plane, treadmill walking, sensor calibration, measurement accuracy
- MeSH terms
- Acceleration, Adult, Electronic Data Processing, Biomechanical Phenomena, Equipment Design, Foot, Gait, Humans, Leg, Male, Movement, Reproducibility of Results, Walking
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
