A new approach to accurate measurement of uniaxial joint angles based on a combination of accelerometers and gyroscopes
Open accessAbstract
A new method of measuring joint angle using a combination of accelerometers and gyroscopes is presented. The method proposes a minimal sensor configuration with one sensor module mounted on each segment. The model is based on estimating the acceleration of the joint center of rotation by placing a pair of virtual sensors on the adjacent segments at the center of rotation. In the proposed technique, joint angles are found without the need for integration, so absolute angles can be obtained which are free from any source of drift. The model considers anatomical aspects and is personalized for each subject prior to each measurement. The method was validated by measuring knee flexion-extension angles of eight subjects, walking at three different speeds, and comparing the results with a reference motion measurement system. The results are very close to those of the reference system presenting very small errors (rms = 1.3, mean = 0.2, SD = 1.1 deg) and excellent correlation coefficients (0.997). The algorithm is able to provide joint angles in real-time, and ready for use in gait analysis. Technically, the system is portable, easily mountable, and can be used for long term monitoring without hindrance to natural activities.
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Kinematic data from accelerometers lack precision because they are affected by increased segment acceleration or drifts.
“However, kinematic data have been shown to lack precision since they are affected by increased segment acceleration or the presence of drifts (algorithms have been developed to decrease the effect of drifting in accelerometers) [4,5,6].”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [6]
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- Authors
- Dejnabadi, H., Jolles, B. M., & Aminian, K.
- Affiliations
- École Polytechnique Fédérale de Lausanne (CH)
- Centre Hospitalier Universitaire Vaudois (CH)
- Venue
- IEEE Transactions on Biomedical Engineering
- Published
- 2005-08
- Volume
- 52
- Issue
- 8
- Pages
- 1478-1484
- ISSN
- 0018-9294 (ISSN-L)
- OpenAlex
- W2167135438
- Cited by
- 286
- References
- 20
- Citations by year
- 2026: 3 · 2025: 5 · 2024: 3 · 2023: 8 · 2022: 15 · 2021: 13 · 2020: 10 · 2019: 12 · 2018: 20 · 2017: 10 · 2016: 13 · 2015: 21 · 2014: 22 · 2013: 18 · 2012: 20
- FWCI
- 27.80
- Type
- journal article
- Language
- en
- Open access
- green
- infoscience.epfl.ch
- Locations
- IEEE Transactions on Biomedical Engineering (publishedVersion)
- PubMed (publishedVersion)
- Infoscience (Ecole Polytechnique Fédérale de Lausanne) (submittedVersion)
- Infoscience (Ecole Polytechnique Fédérale de Lausanne) (submittedVersion, cc-by-nc-nd)
- IRIS (submittedVersion)
- SERVAL (Université de Lausanne) (submittedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Context-Aware Activity Recognition Systems
- Physical Sciences › Engineering › Biomedical Engineering › Gait Recognition and Analysis
- Keywords
- joint angle measurement, soft sensors, knee flexion and extension, gait analysis, wearable sensors, real-time motion monitoring
- MeSH terms
- Acceleration, Adult, Aged, Computer Simulation, Diagnosis, Computer-Assisted, Female, Humans, Knee Joint, Male, Middle Aged, Models, Biological, Movement, Sensitivity and Specificity, Transducers, Reproducibility of Results, Range of Motion, Articular
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