A portable system for collecting anatomical joint angles during stair ascent: A comparison with an optical tracking device
Open accessAbstract
BACKGROUND: Assessments of stair climbing in real-life situations using an optical tracking system are lacking, as it is difficult to adapt the system for use in and around full flights of stairs. Alternatively, a portable system that consists of inertial measurement units (IMUs) can be used to collect anatomical joint angles during stair ascent. The purpose of this study was to compare the anatomical joint angles obtained by IMUs to those calculated from position data of an optical tracking device. METHODS: Anatomical joint angles of the thigh, knee and ankle, obtained using IMUs and an optical tracking device, were compared for fourteen healthy subjects. Joint kinematics obtained with the two measurement devices were evaluated by calculating the root mean square error (RMSE) and by calculating a two-tailed Pearson product-moment correlation coefficient (r) between the two signals. RESULTS: Strong mean correlations (range 0.93 to 0.99) were found for the angles between the two measurement devices, as well as an average root mean square error (RMSE) of 4 degrees over all the joint angles, showing that the IMUs are a satisfactory system for measuring anatomical joint angles. CONCLUSION: These highly portable body-worn inertial sensors can be used by clinicians and researchers alike, to accurately collect data during stair climbing in complex real-life situations.
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Errors reported for camera-based motion capture systems varied across movement planes and joints, similar to M/IMUs.
“Interestingly, and similar to M/IMUs, errors reported for camera-based motion capture systems varied across movement planes and joints.”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [54]
Several studies have questioned the validity and accuracy of camera-based motion capture systems for certain joints and for complex movements.
“It is important to note here that, recently, several studies have questioned the validity and accuracy of camera-based motion capture systems for certain joints and for complex movements [46,54].”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [54]
Errors ranging from 5 to 10° when compared to goniometer, inclinometer, and radiostereometric measurements have been evidenced for camera-based motion capture systems, the same error range as M/IMU systems.
“Indeed, errors ranging from 5 to 10° when compared to goniometer, inclinometer, and radiostereometric measurements have been evidenced (same error range as M/IMU systems).”
From Validity and Reliability of Wearable Sensors for Joint Angle Estimation: A Systematic Review (2019) · cites this paper as [54]
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Short-Term Tracking of Orientation with Inertial Sensors
Sedaghat, G. (2000) · doi:10.15760/etd.6351 · Cited by 1 · see citing works
Interaction in virtual environments with the upper body
Vital, M. B. (2012) · Portuguese National Funding Agency for Science, Research and Technology (RCAAP Project by FCT)
A new method for determining initial contacts during stair ascent
Bergmann, J., Mayagoitia, R. E., & Smith, C. (2009) · Gait & Posture · doi:10.1016/j.gaitpost.2009.08.228
Lupinski, J., Menon, V., Roh, P., Yuen, S., & Andrish, J. T. (2011)
Pose Estimation and Segmentation for Rehabilitation
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Sheng, B., Wang, X., Hou, M., Huang, J., Xiong, S., & Zhang, Y. (2019) · doi:10.2196/preprints.16731
Alsolmi, A. H., & Alhamed, A. H. (2023) · Acta Scientific Orthopaedics · doi:10.31080/asor.2023.06.0780
Assessment of Inertial Measurement Units for Estimating Kinematic Data in Gait Analysis
Hassan, M. A., Barakat, B., Ibrahim, M. M., Kamel, A. M., & Abukeshek, M. (2024) · International Conference on Automation and Computing (ICAC) · doi:10.1109/icac61394.2024.10718859
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Evaluation of angular velocity data from inertial measurement units for use in clinical settings
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Design of a Portable Gait Profiler With Uneven Surface and Low-Light Adaptability
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- Authors
- Bergmann, J. H., Mayagoitia, R. E., & Smith, I. C.
- Affiliations
- King's College London (GB)
- Corresponding author
- Bergmann, Jeroen HM
- Venue
- Dynamic Medicine
- Published
- 2009-04-23
- Volume
- 8
- Issue
- 1
- Pages
- 3-3
- ISSN
- 1476-5918 (ISSN-L)
- PMC
- PMC2684094
- OpenAlex
- W2129931099
- Cited by
- 88
- References
- 30
- Citations by year
- 2026: 4 · 2025: 3 · 2024: 3 · 2023: 1 · 2022: 6 · 2021: 6 · 2020: 8 · 2019: 5 · 2018: 3 · 2017: 6 · 2016: 2 · 2015: 8 · 2014: 7 · 2013: 10 · 2012: 5
- FWCI
- 2.61
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Licence
- Locations
- Dynamic Medicine (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- Research Portal (King's College London) (submittedVersion, cc-by)
- Funders
- King's College London
- Medical Research Council
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Lower Extremity Biomechanics and Pathologies
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Context-Aware Activity Recognition Systems
- Health Sciences › Health Professions › Physical Therapy, Sports Therapy and Rehabilitation › Balance, Gait, and Falls Prevention
- Keywords
- stair climbing, inertial measurement unit, joint kinematics, wearable sensors, instrument comparison
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