In this paper, a self-contained procedure to estimate the vertical, medial-lateral, and anterior-posterior displacement of a single sacrum-worn inertial measurement unit (IMU) is presented, which can be related to the human body center of mass (CoM) displacement during treadmill walking through an adaptation of the sacral marker method. Further, a magnetometer-free custom sensor-fusion algorithm for orientation estimation is proposed alongside a practical alignment procedure to refer relative IMU orientation estimation to a ground-fixed reference frame. Twelve healthy subjects performed two trials of treadmill walking at 3, 4 and 5 km/h for 150 s, with a sacrum-worn IMU. Orientation and displacement estimations were then compared with those obtained from an optoelectronic measurement system. Roll, pitch and yaw angles showed root mean square errors (RMSE) lower than 2 deg for walking trials at 3, 4 and 5 km/h, with Pearson’s correlation coefficient higher than 0.90 for each angle. Displacement accuracy was evaluated in terms of peak-to-trough distances and RMSE. Mean errors resulted lower than 1 mm for each axis of interest and for each gait speed, with RMSE not higher than 2.5 mm. The proposed off-line algorithm can be used in low-budget and infrastructure-free environments, to achieve reliable CoM displacement estimation during cyclic activities such as treadmill walking.

In this study, a minimal setup for the ankle joint kinematics estimation is proposed relying only on proximal information of the lower-limb, i.e. thigh muscles activity and joint kinematics. To this purpose, myoelectric activity of Rectus Femoris (RF), Biceps Femoris (BF), and Vastus Medialis (VM) were recorded by surface electromyography (sEMG) from six healthy subjects during unconstrained walking task. For each subject, the angular kinematics of hip and ankle joints were synchronously recorded with sEMG signal for a total of 288 gait cycles. Two feature sets were extracted from sEMG signals, i.e. time domain (TD) and wavelet (WT) and compared to have a compromise between the reliability and computational capacity, they were used for feeding three regression models, i.e. Artificial Neural Networks, Random Forest, and Least Squares - Support Vector Machine (LS-SVM). BF together with LS-SVM provided the best ankle angle estimation in both TD and WT domains (RMSE < 5.6 deg). The inclusion of Hip joint trajectory significantly enhanced the regression performances of the model (RMSE < 4.5 deg). Results showed the feasibility of estimating the ankle trajectory using only proximal and limited information from the lower limb which would maximize a potential transfemoral amputee user’s comfortability while facing the challenge of having a small amount of information thus requiring robust data-driven models. These findings represent a significant step towards the development of a minimal setup useful for the control design of ankle active prosthetics and rehabilitative solutions.

Muscle onset detection plays a key role in applications ranging from clinical to assistive technology. The Teager-Kaiser energy operator (TKEO) is an acknowledged tool used in surface electromyography (sEMG) signal conditioning for improving the performances of many change-point detection methods. Here, a TKEO extended version (ETKEO) was used to investigate its effects, for different SNR ranges, among a series of well-assessed algorithms, including a threshold-based one (TP). An optimization procedure on synthetic signals for the selection of the operator structure was also developed. The detection errors between TKEO and ETKEO, performed on real sEMG signals with SNR≤8 dB, showed significant (p<0.05) overall improvements, not lower than 30%, when ETKEO was used. When compared with more robust techniques preconditioned by ETKEO as well, i.e. wavelet-, CUSUM-and profile likelihood maximization-based algorithms, the TP detector reached comparable performances for each SNR band, also for the lowest one. The results support the relevance of using ETKEO to improve onset analysis methods for a wide range of low SNR values, being particularly suitable for applications such as myoelectric motion intention detection. Moreover, the ETKEO adaptable structure suggests its use for other biological signals, presenting different characteristics with respect to sEMG signals.

The analysis of gait rhythm by pattern recognition can support the state-of-the-art clinical methods for the identification of neurodegenerative diseases (NDD). In this study, we investigated the use of time domain (TD) and time-dependent spectral features (PSDTD) for detecting NDD sub-types. Also, we proposed two classification pathways for supporting NDD diagnosis, the first one made by a two-step learning phase, whereas the second one encompasses a single learning model. We considered stride-to-stride fluctuation data of healthy controls (CN), patients affected by Parkinson's disease (PD), Huntington's disease (HD), and amyotrophic lateral sclerosis (AS). TD feature set provided good results to distinguish between CN and NDDs, while performances lowered for specific NDD identification. PSDTD features boosted the accuracy of each binary identification task. With k -nearest neighbor classifier, the first diagnosis pathway reached 98.76% accuracy to distinguish between CN and NDD and 94.56% accuracy for NDDs sub-types, whereas the second pathway offered an overall accuracy of 94.84% for a 4-class classification task. Outcomes of this study indicate that the use of TD and PSDTD features, simple to extract and with a low computational load, provides reliable results in terms of NDD identification, being also useful for the development of gait rhythm computer-aided NDD detection systems.

Hemiplegia is a neurological disorder that is often detected in children with cerebral palsy. Although many studies have investigated muscular activity in hemiplegic legs, few EMG-based findings focused on unaffected limb. This study aimed to quantify the asymmetric behavior of lower-limb-muscle recruitment during walking in mild-hemiplegic children from surface-EMG and foot-floor contact features. sEMG signals from tibialis anterior (TA) and gastrocnemius lateralis and foot-floor contact data during walking were analyzed in 16 hemiplegic children classified as W1 according to Winter’ scale, and in 100 control children. Statistical gait analysis, a methodology achieving a statistical characterization of gait by averaging surface-EMG-based features, was performed. Results, achieved in hundreds of strides for each child, indicated that in the hemiplegic side with respect to the non-hemiplegic side, W1 children showed a statistically significant: decreased number of strides with normal foot-floor contact; decreased stance-phase length and initial-contact sub-phase; curtailed, less frequent TA activity in terminal swing and a lack of TA activity at heel-strike. The acknowledged impairment of anti-phase eccentric control of dorsiflexors was confirmed in the hemiplegic side, but not in the contralateral side. However, a modified foot-floor contact pattern is evinced also in the contralateral side, probably to make up for balance requirements.