Single Inertial Measurement Unit Research Articles

OdoNet: Untethered Speed Aiding for Vehicle Navigation Without Hardware Wheeled Odometer

Odometer has been proven to significantly improve the robustness and accuracy of the Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-denied environments. However, odometer is inaccessible in many applications, especially for aftermarket devices and smartphones. To apply forward speed aiding without hardware wheeled odometer, we propose OdoNet, an untethered one-dimensional Convolution Neural Network (CNN)-based pseudo-odometer model learning from a single Inertial Measurement Unit (IMU). Dedicated experiments have been conducted to verify the generalization capability and the precision of the OdoNet. The results indicate that the IMU individuality, the vehicle loads, and the road conditions have little impact on the robustness and precision of the OdoNet, while the IMU biases and the mounting angles may notably ruin the OdoNet. Hence, a data-cleaning procedure is adopted to effectively mitigate the impacts of the IMU biases and the mounting angles. Compared to the processing mode using only non-holonomic constraint (NHC), by employing the pseudo-odometer, the positioning error is reduced by around 68%, while the percentage is around 74% for the hardware wheeled odometer. In conclusion, the proposed OdoNet can be employed as an untethered pseudo-odometer for vehicle navigation.

Free-living gait does not differentiate chronic mTBI patients compared to healthy controls

BackgroundPhysical function remains a crucial component of mild traumatic brain injury (mTBI) assessment and recovery. Traditional approaches to assess mTBI lack sensitivity to detect subtle deficits post-injury, which can impact a patient’s quality of life, daily function and can lead to chronic issues. Inertial measurement units (IMU) provide an opportunity for objective assessment of physical function and can be used in any environment. A single waist worn IMU has the potential to provide broad/macro quantity characteristics to estimate gait mobility, as well as more high-resolution micro spatial or temporal gait characteristics (herein, we refer to these as measures of quality). Our recent work showed that quantity measures of mobility were less sensitive than measures of turning quality when comparing the free-living physical function of chronic mTBI patients and healthy controls. However, no studies have examined whether measures of gait quality in free-living conditions can differentiate chronic mTBI patients and healthy controls. This study aimed to determine whether measures of free-living gait quality can differentiate chronic mTBI patients from controls.MethodsThirty-two patients with chronic self-reported balance symptoms after mTBI (age: 40.88 ± 11.78 years, median days post-injury: 440.68 days) and 23 healthy controls (age: 48.56 ± 22.56 years) were assessed for ~ 7 days using a single IMU at the waist on a belt. Free-living gait quality metrics were evaluated for chronic mTBI patients and controls using multi-variate analysis. Receiver operating characteristics (ROC) and Area Under the Curve (AUC) analysis were used to determine outcome sensitivity to chronic mTBI.ResultsFree-living gait quality metrics were not different between chronic mTBI patients and controls (all p > 0.05) whilst controlling for age and sex. ROC and AUC analysis showed stride length (0.63) was the most sensitive measure for differentiating chronic mTBI patients from controls.ConclusionsOur results show that gait quality metrics determined through a free-living assessment were not significantly different between chronic mTBI patients and controls. These results suggest that measures of free-living gait quality were not impaired in our chronic mTBI patients, and/or, that the metrics chosen were not sensitive enough to detect subtle impairments in our sample.

Cross-Leg Prediction of Running Kinematics across Various Running Conditions and Drawing from a Minimal Data Set Using a Single Wearable Sensor

The feasibility of prediction of same-limb kinematics using a single inertial measurement unit attached to the same limb has been demonstrated using machine learning. This study was performed to see if a single inertial measurement unit attached to the tibia can predict the opposite leg’s kinematics (cross-leg prediction). It also investigated if there is a minimal or smaller data set in a convolutional neural network model to predict lower extremity running kinematics under other running conditions and with what accuracy for the intra- and inter-participant situations. Ten recreational runners completed running exercises under five conditions, including treadmill running at speeds of 2, 2.5, 3, and 3.5 m/s and level-ground running at their preferred speed. A one-predict-all scheme was adopted to determine which running condition could be used to best predict a participant’s overall running kinematics. Running kinematic predictions were performed for intra- and inter-participant scenarios. Among the tested running conditions, treadmill running at 3 m/s was found to be the optimal condition for accurately predicting running kinematics under other conditions, with R2 values ranging from 0.880 to 0.958 and 0.784 to 0.936 for intra- and inter-participant scenarios, respectively. The feasibility of cross-leg prediction was demonstrated but with significantly lower accuracy than the same leg. The treadmill running condition at 3 m/s showed the highest intra-participant cross-leg prediction accuracy. This study proposes a novel, deep-learning method for predicting running kinematics under different conditions on a small training data set.

A Deep Learning Approach for Gait Event Detection from a Single Shank-Worn IMU: Validation in Healthy and Neurological Cohorts.

Many algorithms use 3D accelerometer and/or gyroscope data from inertial measurement unit (IMU) sensors to detect gait events (i.e., initial and final foot contact). However, these algorithms often require knowledge about sensor orientation and use empirically derived thresholds. As alignment cannot always be controlled for in ambulatory assessments, methods are needed that require little knowledge on sensor location and orientation, e.g., a convolutional neural network-based deep learning model. Therefore, 157 participants from healthy and neurologically diseased cohorts walked 5 m distances at slow, preferred, and fast walking speed, while data were collected from IMUs on the left and right ankle and shank. Gait events were detected and stride parameters were extracted using a deep learning model and an optoelectronic motion capture (OMC) system for reference. The deep learning model consisted of convolutional layers using dilated convolutions, followed by two independent fully connected layers to predict whether a time step corresponded to the event of initial contact (IC) or final contact (FC), respectively. Results showed a high detection rate for both initial and final contacts across sensor locations (recall , precision ). Time agreement was excellent as witnessed from the median time error (0.005 s) and corresponding inter-quartile range (0.020 s). The extracted stride-specific parameters were in good agreement with parameters derived from the OMC system (maximum mean difference 0.003 s and corresponding maximum limits of agreement (−0.049 s, 0.051 s) for a confidence level). Thus, the deep learning approach was considered a valid approach for detecting gait events and extracting stride-specific parameters with little knowledge on exact IMU location and orientation in conditions with and without walking pathologies due to neurological diseases.

Real-time walking gait terrain classification from foot-mounted Inertial Measurement Unit using Convolutional Long Short-Term Memory neural network

We propose a novel online real-time gait terrain detection algorithm from the measurements of a foot-mounted Inertial Measurement Unit (IMU), using a shallow cascaded Convolutional and Long Short-Term Memory neural network (CNN-LSTM). Gait data is acquired from healthy subjects walking in an unstructured environment that includes level ground, stair ascent and stair descent. The CNN-LSTM subject-independent classifier is trained to continuously detect the terrain from the time series data, invariant to IMU initial pose.Our results show that the classifier is able to correctly detect the terrain on data from unseen subjects, in less than 90ms from toe-off (f1-score >0.89), improving further its classification performance in less than 135ms from toe-off (f1-score >0.98). Furthermore, we present a novel capability with this classifier to timely detect terrain transitions, switching from the starting to the final terrain during midswing. The CNN-LSTM classifier is therefore suitable to be used in assistive devices, timely adjusting to the different gait kinematics, using a single foot-mounted IMU.

Preliminary Study of Vibrotactile Feedback during Home-Based Balance and Coordination Training in Individuals with Cerebellar Ataxia.

Intensive balance and coordination training is the mainstay of treatment for symptoms of impaired balance and mobility in individuals with hereditary cerebellar ataxia. In this study, we compared the effects of home-based balance and coordination training with and without vibrotactile SA for individuals with hereditary cerebellar ataxia. Ten participants (five males, five females; 47 ± 12 years) with inherited forms of cerebellar ataxia were recruited to participate in a 12-week crossover study during which they completed two six-week blocks of balance and coordination training with and without vibrotactile SA. Participants were instructed to perform balance and coordination exercises five times per week using smartphone balance trainers that provided written, graphic, and video guidance and measured trunk sway. The pre-, per-, and post-training performance were assessed using the Scale for the Assessment and Rating of Ataxia (SARA), SARAposture&gait sub-scores, Dynamic Gait Index, modified Clinical Test of Sensory Interaction in Balance, Timed Up and Go performed with and without a cup of water, and multiple kinematic measures of postural sway measured with a single inertial measurement unit placed on the participants’ trunks. To explore the effects of training with and without vibrotactile SA, we compared the changes in performance achieved after participants completed each six-week block of training. Among the seven participants who completed both blocks of training, the change in the SARA scores and SARAposture&gait sub-scores following training with vibrotactile SA was not significantly different from the change achieved following training without SA (. However, a trend toward improved SARA scores and SARAposture&gait sub-scores was observed following training with vibrotactile SA; compared to their pre-vibrotacile SA training scores, participants significantly improved their SARA scores ( and SARAposture&gait sub-scores (. In contrast, no significant changes in SARA scores and SARAposture&gait sub-scores were observed following the six weeks of training without SA compared to their pre-training scores immediately preceding the training block without vibrotactile SA (. No significant changes in trunk kinematic sway parameters were observed as a result of training (. Based on the findings from this preliminary study, balance and coordination training improved the participants’ motor performance, as captured through the SARA. Vibrotactile SA may be a beneficial addition to training regimens for individuals with hereditary cerebellar ataxia, but additional research with larger sample sizes is needed to assess the significance and generalizability of these findings.

Three-dimensional continuous gait trajectory estimation using single Shank-Worn inertial measurement units and clinical walk test application

State-of-the-art estimation methods using inertial measurement units (IMUs) for global continuous gait path and local stepwise gait trajectory during walking have been developed. However, estimation methods for continuous gait trajectory integrating both these aspects with high accuracy are almost lacking. Thus, continuous gait trajectory estimation using a single shank-worn IMU with high accuracy is proposed in this study. This method calculates three-dimensional local stepwise gait trajectory based on IMU measurement data extracted between adjacent middle points of stance phases during walking. Continuous gait trajectory is estimated by concatenating adjacent local stepwise gait trajectories based on relative angles determined according to stride vectors and shank orientations. Evaluation experiments results obtained using the optical motion capture system with 12 healthy participants demonstrated estimation errors in the stride length (− 0.027 (− 0.054 to − 0.006) m) and turning angle (0.7 (− 0.2–1.7)°), and normalized endpoint position error (0.029 (0.019–0.04) m). Comparing with previous reports, the proposed method integrally achieves a continuous gait trajectory with a low estimation error level in both local and global aspects despite the continuous measurement of multiple gait cycles. The proposed simple and low-cost method can be applied in the medical field and contribute to expansion of the application of precise gait information in daily life.

Events Detection of Anticipatory Postural Adjustments through a Wearable Accelerometer Sensor Is Comparable to That Measured by the Force Platform in Subjects with Parkinson's Disease.

Out-of-the-lab instrumented gait testing focuses on steady-state gait and usually does not include gait initiation (GI) measures. GI involves Anticipatory Postural Adjustments (APAs), which propel the center of mass (COM) forward and laterally before the first step. These movements are impaired in persons with Parkinson’s disease (PD), contributing to their pathological gait. The use of a simple GI testing system, outside the lab, would allow improving gait rehabilitation of PD patients. Here, we evaluated the metrological quality of using a single inertial measurement unit for APA detection as compared with the use of a gold-standard system, i.e., the force platforms. Twenty-five PD and eight elderly subjects (ELD) were asked to initiate gait in response to auditory stimuli while wearing an IMU on the trunk. Temporal parameters (APA-Onset, Time-to-Toe-Off, Time-to-Heel-Strike, APA-Duration, Swing-Duration) extracted from the accelerometric data and force platforms were significantly correlated (mean(SD), r: 0.99(0.01), slope: 0.97(0.02)) showing a good level of agreement (LOA [s]: 0.04(0.01), CV [%]: 2.9(1.7)). PD showed longer APA-Duration compared to ELD ([s] 0.81(0.17) vs. 0.59(0.09) p < 0.01). APA parameters showed moderate correlation with the MDS-UPDRS Rigidity, Characterizing-FOG questionnaire and FAB-2 planning. The single IMU-based reconstruction algorithm was effective in measuring APAs timings in PD. The current work sets the stage for future developments of tele-rehabilitation and home-based exercises.

High Specificity of Single Inertial Sensor-Supplemented Timed Up and Go Test for Assessing Fall Risk in Elderly Nursing Home Residents.

The Timed Up and Go test (TUG) is commonly used to estimate the fall risk in the elderly. Several ways to improve the predictive accuracy of TUG (cameras, multiple sensors, other clinical tests) have already been proposed. Here, we added a single wearable inertial measurement unit (IMU) to capture the residents’ body center-of-mass kinematics in view of improving TUG’s predictive accuracy. The aim is to find out which kinematic variables and residents’ characteristics are relevant for distinguishing faller from non-faller patients. Data were collected in 73 nursing home residents with the IMU placed on the lower back. Acceleration and angular velocity time series were analyzed during different subtasks of the TUG. Multiple logistic regressions showed that total time required, maximum angular velocity at the first half-turn, gender, and use of a walking aid were the parameters leading to the best predictive abilities of fall risk. The predictive accuracy of the proposed new test, called i + TUG, reached a value of 74.0%, with a specificity of 95.9% and a sensitivity of 29.2%. By adding a single wearable IMU to TUG, an accurate and highly specific test is therefore obtained. This method is quick, easy to perform and inexpensive. We recommend to integrate it into daily clinical practice in nursing homes.

Human Gait Modeling, Prediction and Classification for Level Walking Using Harmonic Models Derived from a Single Thigh-Mounted IMU.

The majority of human gait modeling is based on hip, foot or thigh acceleration. The regeneration accuracy of these modeling approaches is not very high. This paper presents a harmonic approach to modeling human gait during level walking based on gyroscopic signals for a single thigh-mounted Inertial Measurement Unit (IMU) and the flexion–extension derived from a single thigh-mounted IMU. The thigh angle can be modeled with five significant harmonics, with a regeneration accuracy of over 0.999 correlation and less than 0.5° RMSE per stride cycle. Comparable regeneration accuracies can be achieved with nine significant harmonics for the gyro signal. The fundamental frequency of the harmonic model can be estimated using the stride time, with an error level of 0.0479% (±0.0029%). Six commonly observed stride patterns, and harmonic models of thigh angle and gyro signal for those stride patterns, are presented in this paper. These harmonic models can be used to predict or classify the strides of walking trials, and the results are presented herein. Harmonic models may also be used for activity recognition. It has shown that human gait in level walking can be modeled with a harmonic model of thigh angle or gyro signal, using a single thigh-mounted IMU, to higher accuracies than existing techniques.

Assessing inertial measurement unit locations for freezing of gait detection and patient preference

BackgroundFreezing of gait, a common symptom of Parkinson’s disease, presents as sporadic episodes in which an individual’s feet suddenly feel stuck to the ground. Inertial measurement units (IMUs) promise to enable at-home monitoring and personalization of therapy, but there is a lack of consensus on the number and location of IMUs for detecting freezing of gait. The purpose of this study was to assess IMU sets in the context of both freezing of gait detection performance and patient preference.MethodsSixteen people with Parkinson’s disease were surveyed about sensor preferences. Raw IMU data from seven people with Parkinson’s disease, wearing up to eleven sensors, were used to train convolutional neural networks to detect freezing of gait. Models trained with data from different sensor sets were assessed for technical performance; a best technical set and minimal IMU set were identified. Clinical utility was assessed by comparing model- and human-rater-determined percent time freezing and number of freezing events.ResultsThe best technical set consisted of three IMUs (lumbar and both ankles, AUROC = 0.83), all of which were rated highly wearable. The minimal IMU set consisted of a single ankle IMU (AUROC = 0.80). Correlations between these models and human raters were good to excellent for percent time freezing (ICC = 0.93, 0.89) and number of freezing events (ICC = 0.95, 0.86) for the best technical set and minimal IMU set, respectively.ConclusionsSeveral IMU sets consisting of three IMUs or fewer were highly rated for both technical performance and wearability, and more IMUs did not necessarily perform better in FOG detection. We openly share our data and software to further the development and adoption of a general, open-source model that uses raw signals and a standard sensor set for at-home monitoring of freezing of gait.

Assessment of countermovement jump with and without arm swing using a single inertial measurement unit

ABSTRACT The countermovement vertical jump height, flight time, and jump duration are used to assess athletic performance. Force-plate and motion-capture cameras are used to estimate these parameters, yet, their application is limited to dedicated lab environments. Despite the potential of inertial measurement units (IMU) for estimating the jump height, their accuracy has not been validated. This study investigates the accuracy of our proposed method to estimate the jump height using a sacrum-mounted IMU, during countermovement jumping. Eleven individuals performed four jumps each. To obtain the jump height, we transformed the IMU readouts into anatomical planes, and double-integrated the vertical acceleration after correction for zero velocity and vertical displacement. The accuracy of jump height obtained by IMU was compared to force-plate and motion-capture cameras during jumps without arm swing (mean error (standard deviation) of 0.3(2.2) cm and 1.0(3.0) cm, and correlation coefficient of 0.83 and 0.82, respectively) and during jumps with arm swing (−1.1(2.1) cm and 0.5(1.9) cm, and 0.92 and 0.89). The correlation coefficients were high, and the errors were comparable to the difference between the jump height obtained by force-plate and cameras. Therefore, a sacrum-mounted IMU can be recommended for in-field assessment of countermovement jump with and without arm swing.

Abstract TP61: Can A Single Motion Sensor Identify Lower Limb Movement Alterations Among Stroke Survivors?

Introduction: Hindrance in normal movement is common among stroke survivors (SS), leading to a larger prevalence of falling and serious injuries. Current methods for analyzing the movement restrictions (camera-based motion capture) are limited to laboratory/clinical environments. Meanwhile, the presence of Inertial Measurement Unit (IMU) sensors in our everyday lives (e.g., in smartphones) is ever increasing due to their portability, affordability, and accessibility. The purpose of this study was to determine whether a single IMU sensor can differentiate movements between SS and healthy control (HC). Methods: Turning (360°) was selected as the activity since it is a common and complex motion. Data was collected from 12 participants (6 SS, 6 HC) using an IMU sensor (Xsens®) placed on unaffected leg (shank) and was analyzed using a 3-step process: filtration (5 Hz cutoff frequency), segmentation (cycles – consecutive foot placement), and feature extraction. Analyzed features included duration of task (sec), number of cycles, mean angular velocity (deg/sec) of shank per cycle, ratio of stance-time to the duration of task (%), and range of flexion angle (deg) for shank. Results: Obtained values were larger in SS for number of cycles (SS: 5.8, HC: 3.2, p-value&lt;0.01) and duration of task (7.8, 3.4, &lt;0.01). Meanwhile, HC showed higher velocity of shank (unaffected) flexion (1.2, 1.7, &lt;0.01) and the ratio of stance-time to the duration of task (57.7, 32.3, &lt;0.01). Conclusion: A single IMU sensor successfully detected kinematic disparities between two groups. Meanwhile, further work is required to examine the robustness and detection improvements upon using other sensor locations. The use of a single IMU sensor, also present in most smartphones/smartwatches, could enable this accessible technology to be used as a remote assessment/monitoring tool, extending the reach of diagnostic tools and rehabilitation programs.

Drift-Free 3D Orientation and Displacement Estimation for Quasi-Cyclical Movements Using One Inertial Measurement Unit: Application to Running.

A Drift-Free 3D Orientation and Displacement estimation method (DFOD) based on a single inertial measurement unit (IMU) is proposed and validated. Typically, body segment orientation and displacement methods rely on a constant- or zero-velocity point to correct for drift. Therefore, they are not easily applicable to more proximal segments than the foot. DFOD uses an alternative single sensor drift reduction strategy based on the quasi-cyclical nature of many human movements. DFOD assumes that the quasi-cyclical movement occurs in a quasi-2D plane and with an approximately constant cycle average velocity. DFOD is independent of a constant- or zero-velocity point, a biomechanical model, Kalman filtering or a magnetometer. DFOD reduces orientation drift by assuming a cyclical movement, and by defining a functional coordinate system with two functional axes. These axes are based on the mean acceleration and rotation axes over multiple complete gait cycles. Using this drift-free orientation estimate, the displacement of the sensor is computed by again assuming a cyclical movement. Drift in displacement is reduced by subtracting the mean value over five gait cycle from the free acceleration, velocity, and displacement. Estimated 3D sensor orientation and displacement for an IMU on the lower leg were validated with an optical motion capture system (OMCS) in four runners during constant velocity treadmill running. Root mean square errors for sensor orientation differences between DFOD and OMCS were 3.1 ± 0.4° (sagittal plane), 5.3 ± 1.1° (frontal plane), and 5.0 ± 2.1° (transversal plane). Sensor displacement differences had a root mean square error of 1.6 ± 0.2 cm (forward axis), 1.7 ± 0.6 cm (mediolateral axis), and 1.6 ± 0.2 cm (vertical axis). Hence, DFOD is a promising 3D drift-free orientation and displacement estimation method based on a single IMU in quasi-cyclical movements with many advantages over current methods.

A Single Sacral-Mounted Inertial Measurement Unit to Estimate Peak Vertical Ground Reaction Force, Contact Time, and Flight Time in Running.

Peak vertical ground reaction force (), contact time (), and flight time () are key variables of running biomechanics. The gold standard method (GSM) to measure these variables is a force plate. However, a force plate is not always at hand and not very portable overground. In such situation, the vertical acceleration signal recorded by an inertial measurement unit (IMU) might be used to estimate , , and . Hence, the first purpose of this study was to propose a method that used data recorded by a single sacral-mounted IMU (IMU method: IMUM) to estimate . The second aim of this study was to estimate and using the same IMU data. The vertical acceleration threshold of an already existing IMUM was modified to detect foot-strike and toe-off events instead of effective foot-strike and toe-off events. Thus, and estimations were obtained instead of effective contact and flight time estimations. One hundred runners ran at 9, 11, and 13 km/h. IMU data (208 Hz) and force data (200 Hz) were acquired by a sacral-mounted IMU and an instrumented treadmill, respectively. The errors obtained when comparing , , and estimated using the IMUM to , , and measured using the GSM were comparable to the errors obtained using previously published methods. In fact, a root mean square error (RMSE) of 0.15 BW (6%) was obtained for while a RMSE of 20 ms was reported for both and (8% and 18%, respectively). Moreover, even though small systematic biases of 0.07 BW for and 13 ms for and were reported, the RMSEs were smaller than the smallest real differences [: 0.28 BW (11%), : 32.0 ms (13%), and : 32.0 ms (30%)], indicating no clinically important difference between the GSM and IMUM. Therefore, these results support the use of the IMUM to estimate , , and for level treadmill runs at low running speeds, especially because an IMU has the advantage to be low-cost and portable and therefore seems very practical for coaches and healthcare professionals.

Predicting Axial Impairment in Parkinson's Disease through a Single Inertial Sensor.

Background: Current telemedicine approaches lack standardised procedures for the remote assessment of axial impairment in Parkinson’s disease (PD). Unobtrusive wearable sensors may be a feasible tool to provide clinicians with practical medical indices reflecting axial dysfunction in PD. This study aims to predict the postural instability/gait difficulty (PIGD) score in PD patients by monitoring gait through a single inertial measurement unit (IMU) and machine-learning algorithms. Methods: Thirty-one PD patients underwent a 7-m timed-up-and-go test while monitored through an IMU placed on the thigh, both under (ON) and not under (OFF) dopaminergic therapy. After pre-processing procedures and feature selection, a support vector regression model was implemented to predict PIGD scores and to investigate the impact of L-Dopa and freezing of gait (FOG) on regression models. Results: Specific time- and frequency-domain features correlated with PIGD scores. After optimizing the dimensionality reduction methods and the model parameters, regression algorithms demonstrated different performance in the PIGD prediction in patients OFF and ON therapy (r = 0.79 and 0.75 and RMSE = 0.19 and 0.20, respectively). Similarly, regression models showed different performances in the PIGD prediction, in patients with FOG, ON and OFF therapy (r = 0.71 and RMSE = 0.27; r = 0.83 and RMSE = 0.22, respectively) and in those without FOG, ON and OFF therapy (r = 0.85 and RMSE = 0.19; r = 0.79 and RMSE = 0.21, respectively). Conclusions: Optimized support vector regression models have high feasibility in predicting PIGD scores in PD. L-Dopa and FOG affect regression model performances. Overall, a single inertial sensor may help to remotely assess axial motor impairment in PD patients.

Deep Learning-Based Near-Fall Detection Algorithm for Fall Risk Monitoring System Using a Single Inertial Measurement Unit.

Proactively detecting falls and preventing injuries are among the primary keys to a healthy life for the elderly. Near-fall remote monitoring in daily life could provide key information to prevent future falls and obtain quantitative rehabilitation status for patients with weak balance ability. In this study, we developed a deep learning-based novel classification algorithm to precisely categorize three classes (falls, near-falls, and activities of daily living (ADLs)) using a single inertial measurement unit (IMU) device attached to the waist. A total of 34 young participants were included in this study. An IMU containing accelerometer and gyroscope sensors was fabricated to acquire acceleration and angular velocity signals. A comprehensive experiment including thirty-six types of activities (10 types of falls, 10 types of near-falls, and 16 types of ADLs) was designed based on previous studies. A modified directed acyclic graph-convolution neural network (DAG-CNN) architecture with hyperparameter optimization was proposed to predict fall, near-fall, and ADLs. Prediction results of the modified DAG-CNN structure were found to be approximately 7% more accurate than the traditional CNN structure. For the case of near-falls, the modified DAG-CNN demonstrated excellent prediction performance with accuracy of over 98% by combining gyroscope and accelerometer features. Additionally, by combining acceleration and angular velocity the trained model showed better performance than each model of acceleration and angular velocity. It is believed that information to preemptively handle the risk of falls and quantitatively evaluate the rehabilitation status of the elderly with weak balance will be provided by monitoring near-falls.

Monitoring Arm Movements Post-Stroke for Applications in Rehabilitation and Home Settings.

Optimal recovery of arm function following stroke requires patients to perform a large number of functional arm movements in clinical therapy sessions, as well as at home. Technology to monitor adherence to this activity would be helpful to patients and clinicians. Current approaches to monitoring arm movements are limited because of challenges in distinguishing between functional and non-functional movements. Here, we present an Arm Rehabilitation Monitor (ARM), a device intended to make such measurements in an unobtrusive manner. The ARM device is based on a single Inertial Measurement Unit (IMU) worn on the wrist and uses machine learning techniques to interpret the resulting signals. We characterized the ability of the ARM to detect reaching actions in a functional assessment dataset (functional assessment tasks) and an Activities-of-Daily-Living (ADL) dataset (pizza-making and walking task) from 12 participants with stroke. The Convolutional Neural Network (CNN) and Random Forests (RF) classifiers had a Matthews Correlation Coefficient score of 0.59 and 0.58 when trained and tested on the functional dataset, 0.50 and 0.49 when trained and tested on the ADL dataset, and 0.37 and 0.36 when trained on the functional dataset and tested on the ADL dataset, respectively. The latter is the most relevant scenario for the intended application of training during a clinical visit for monitoring movements in the in-home setting. The classifiers showed good performance in estimating the time spent reaching and number of reaching gestures and showed low sensitivity to irrelevant arm movements produced during walking. We conclude that the ARM has sufficient accuracy and robustness to merit being used in preliminary studies to monitor arm activity in rehabilitation or home applications.

Multi-IMU Based Alternate Navigation Frameworks: Performance &amp; Comparison for UAS

On-board state estimation is a persistent challenge to fielding unmanned aerial systems (UAS), particularly when global positioning system (GPS) measurements are not available. The dominant estimation tool remains the extended Kalman filter (EKF) applied to an inertial measurement unit (IMU). The growing availability of low-cost commercial-grade IMUs raises questions about how to best improve sensor readings into an estimate when measurements are available from multiple IMUs. This paper evaluates four different approaches to attitude estimation from multiple IMU measurements and their application in high dynamic motion. The four approaches are fusion of measurements (virtual IMU), fusion of state estimates (Federated KF), feedback fusion state estimate (Feedback Federated KF), and an EKF design incorporating the additional measurements (Augmented KF); these correspond to fusion before, within, or after state estimation. The performance of the approaches are quantified for varying IMU number theoretically and experimentally. The experiments use on-board autopilot hardware implementations of the estimators during maneuvers in a motion capture volume and flights on-board an Unmanned Aerial Systems (UAS) implementation, with the peak and root-mean-square (RMS) errors used to quantify accuracy. The RMS error results indicate that the feedback federated Kalman Filter using five IMUs returns 38% compared to general federated Kalman Filter using 37% accuracy improvement over a single IMU. This improvement compares to a 19% improvement for virtual IMU and 9% improvement for the Augmented KF respectively. These results indicate that both the Federated KF approach achieves the lowest RMS error relative to the virtual IMU and augmented KF approaches and inform the design of multi-IMU UAS pose estimators.

A novel method of estimating ship heave motion based on dual inertial measurement units

In order to estimate the ship heave displacement information in real time and accurately, combined with the ship heave motion model, a dual inertial measurement units (IMU) ship heave displacement estimation method is proposed, the corresponding observer is established, and the heave information of the two Imus is fused. The simulation results show that the dual IMU ship heave estimation method has higher accuracy than the single IMU ship heave estimation method.