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Detecting absolute human knee angle and angular velocity using accelerometers and rate gyroscopes.

R Williamson1, B J Andrews

  • 1Second Sight, Stanford, California, USA.

Medical & Biological Engineering & Computing
|July 24, 2001
PubMed
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This study developed a real-time knee joint angle and velocity measurement system using gyroscopes and accelerometers. The novel system accurately tracks lower limb movement in able-bodied individuals and paraplegics using functional electrical stimulation (FES).

Area of Science:

  • Biomechanics
  • Rehabilitation Engineering
  • Wearable Sensors

Background:

  • Accurate real-time measurement of knee joint kinematics is crucial for assessing mobility and guiding rehabilitation.
  • Traditional goniometers can be cumbersome and may not capture dynamic movements effectively.
  • Wearable inertial sensors offer a promising alternative for non-invasive kinematic analysis.

Purpose of the Study:

  • To develop and validate a real-time system for measuring knee joint angle and angular velocity during sit-to-stand and stand-to-sit movements.
  • To assess the system's accuracy in able-bodied individuals and a paraplegic subject undergoing functional electrical stimulation (FES).

Main Methods:

  • Two inertial measurement units (IMUs), each containing a rate gyroscope and accelerometer, were attached to the thigh and shank.

Related Experiment Videos

  • Algorithms were implemented to compensate for gyroscope offset and drift.
  • Limb segment tilt was calculated by fusing accelerometer and gyroscope data.
  • Knee joint angle was determined by the difference in segment tilts.
  • System performance was evaluated against a reference goniometer on a 2D model and during human trials.

    • Main Results:

    • The rate gyroscope-accelerometer system demonstrated high accuracy, with mean differences of 2.1-2.4 degrees for knee angle and 2.3-11.8 degrees/s for angular velocity compared to a goniometer.
    • The combined sensor system outperformed using the accelerometer alone as a tilt meter.
    • Accurate kinematic data was obtained during sit-to-stand and stand-to-sit movements in both able-bodied and FES-assisted paraplegic participants.

    Conclusions:

    • A wearable rate gyroscope-accelerometer system provides accurate real-time measurement of knee joint kinematics.
    • This technology holds potential for objective assessment of mobility and rehabilitation progress in diverse populations, including those with spinal cord injuries.
    • The enhanced bandwidth of the combined sensor approach contributes to improved measurement accuracy over single-sensor methods.