Measurement of Multi-segment Foot Joint Angles During Gait Using a Wearable System
Open accessAbstract
Usually the measurement of multi-segment foot and ankle complex kinematics is done with stationary motion capture devices which are limited to use in a gait laboratory. This study aimed to propose and validate a wearable system to measure the foot and ankle complex joint angles during gait in daily conditions, and then to investigate its suitability for clinical evaluations. The foot and ankle complex consisted of four segments (shank, hindfoot, forefoot, and toes), with an inertial measurement unit (3D gyroscopes and 3D accelerometers) attached to each segment. The angles between the four segments were calculated in the sagittal, coronal, and transverse planes using a new algorithm combining strap-down integration and detection of low-acceleration instants. To validate the joint angles measured by the wearable system, three subjects walked on a treadmill for five minutes at three different speeds. A camera-based stationary system that used a cluster of markers on each segment was used as a reference. To test the suitability of the system for clinical evaluation, the joint angle ranges were compared between a group of 10 healthy subjects and a group of 12 patients with ankle osteoarthritis, during two 50-m walking trials where the wearable system was attached to each subject. On average, over all joints and walking speeds, the RMS differences and correlation coefficients between the angular curves obtained using the wearable system and the stationary system were 1 deg and 0.93, respectively. Moreover, this system was able to detect significant alteration of foot and ankle function between the group of patients with ankle osteoarthritis and the group of healthy subjects. In conclusion, this wearable system was accurate and suitable for clinical evaluation when used to measure the multi-segment foot and ankle complex kinematics during long-distance walks in daily life conditions.
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Ecological tasks related to activities of daily living generally require complex movements, the use of both upper and lower limb joints, movements in more than one plane, and irregular movement speed, which all drastically affect M/IMU system performance.
“Indeed, ecological tasks related to activities of daily living generally require complex movements, the use of both upper and lower limb joints, movements in more than one plane, and irregular movement speed, which all drastically affect system performance (e.g., walking at different speed vs. running [62,63]).”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [63]
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- Authors
- Rouhani, H., Favre, J., Crevoisier, X., & Aminian, K.
- Affiliations
- École Polytechnique Fédérale de Lausanne (CH)
- Centre Hospitalier Universitaire Vaudois (CH)
- Venue
- Journal of Biomechanical Engineering
- Publisher
- ASME International
- Published
- 2012-06-01
- Volume
- 134
- Issue
- 6
- Pages
- 061006-061006
- ISSN
- 0148-0731 (ISSN-L)
- 1528-8951
- OpenAlex
- W2070208769
- Cited by
- 72
- References
- 35
- Citations by year
- 2026: 3 · 2025: 1 · 2024: 6 · 2023: 5 · 2022: 8 · 2021: 5 · 2020: 11 · 2019: 2 · 2018: 5 · 2017: 5 · 2016: 4 · 2015: 6 · 2014: 5 · 2013: 3 · 2012: 3
- FWCI
- 3.10
- Type
- journal article
- Language
- en
- Open access
- green
- infoscience.epfl.ch
- Locations
- Journal of Biomechanical 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 › Biomedical Engineering › Lower Extremity Biomechanics and Pathologies
- Health Sciences › Medicine › Orthopedics and Sports Medicine › Foot and Ankle Surgery
- Physical Sciences › Engineering › Biomedical Engineering › Gait Recognition and Analysis
- Keywords
- foot and ankle kinematics, wearable inertial sensors, gait analysis, ankle osteoarthritis, marker-based motion capture
- MeSH terms
- Adult, Ankle, Biomechanical Phenomena, Female, Gait, Humans, Male, Middle Aged, Osteoarthritis, Case-Control Studies, Walking, Monitoring, Ambulatory, Foot Joints, Mechanical Phenomena
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 ›
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