A sensor fusion approach for inertial sensors based 3D kinematics and pathological gait assessments: toward an adaptive control of stimulation in post-stroke subjects

Benoît Sijobert 1 François Feuvrier 2 Jérôme Froger 2 David Guiraud 1 Christine Azevedo Coste 1
1 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 Service de Rééducation et réadaptation neurologique [CHU de Nîmes - Hôpital du Grau-du-Roi]
Hôpital Universitaire de réadaptation, de Rééducation et d'Adictologie du CHU de Nîmes [Grau-du-Roi]
Abstract : Pathological gait assessment and assistive control based on functional electrical stimulation (FES) in post-stroke individuals, brings out a common need to robustly quantify kinematics facing multiple constraints. This study proposes a novel approach using inertial sensors to compute dorsiflexion angles and spatio-temporal parameters, in order to be later used as inputs for online close-loop control of FES. 26 post-stroke subjects were asked to walk on a pressure mat equipped with inertial measurement units (IMU) and passive reflective markers. A total of 930 strides were individually analyzed and results between IMU-based algorithms and reference systems compared. Mean absolute (MA) errors of dorsiflexion angles were found to be less than 4°, while stride lengths were robustly segmented and estimated with a MA error less than 10 cm. These results open new doors to rehabilitation using adaptive FES closed-loop control strategies in "foot drop" syndrome correction.
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https://hal.inria.fr/hal-01924841
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Submitted on : Friday, November 16, 2018 - 4:26:49 PM
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Benoît Sijobert, François Feuvrier, Jérôme Froger, David Guiraud, Christine Azevedo Coste. A sensor fusion approach for inertial sensors based 3D kinematics and pathological gait assessments: toward an adaptive control of stimulation in post-stroke subjects. EMBC: Engineering in Medicine and Biology Conference, Jul 2018, Honolulu, United States. pp.3497-3500, ⟨10.1109/EMBC.2018.8512985⟩. ⟨hal-01924841⟩

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