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Updated: Apr 18, 2026

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
Published on: May 26, 2020
A study on estimation of planar gait kinematics using minimal inertial measurement units and inverse kinematics
Abstract:
This paper describes a preliminary study of using four inertial measurement units (IMUs) attached to the heel and pelvis to estimate the joint angles of normal subjects during walking. The IMU, consisting of a 3-D accelerometer and gyroscope, is used to estimate the planar displacement of the heel and pelvis and the angular change of heel in one gait cycle. We then model the gait as a planar 3R serial chain and solve its inverse kinematics by using such information. The results are validated by comparing the estimated joint angles of lower limbs (i.e. hip, knee and ankle angles) with an optical motion capture system. This study can benefit the future research on conducting complete lower limbs kinematics analysis with minimal and unobtrusive wearable sensors.
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