Adaptive method for detecting zero-velocity regions to quantify stride-to-stride spatial gait parameters using inertial sensors

We present a new adaptive method that robustly detects zero-velocity regions to accurately and precisely quantify (1) individual stride lengths (SLs), (2) individual stride velocities (SVs), (3) the average of SL, (4) the average of SV, and (5) the cadence during slow, normal, and fast overground walking conditions in young and healthy people. The measurements involved in the estimation of these spatial gait parameters are obtained using only one inertial measurement unit attached on a regular shoe at the level of the heel. This adaptive method reduced the integration drifts across consecutive strides and improved the accuracy and precision in the spatial gait parameter estimation. The validation of the proposed algorithm has been carried out using reference spatial gait parameters obtained from a kinematic reference system. The accuracy ± precision results were for SLs: 0.0 ± 4.7 cm, −0.7 ± 4.4 cm, and −5.8 ± 5.8 cm, during slow, normal, and fast walking conditions, respectively, corresponding to −0.1 ± 4.2 %, −0.5 ± 3.2 %, and −3.3 ± 3.0 % of the respective mean SL. The accuracy ± precision results were for SVs: 0.0 ± 2.9 cm/s, −0.7 ± 3.8 cm/s, and −6.7 ± 6.7 cm/s, during slow, normal, and fast walking conditions, respectively, corresponding to −0.6 ± 3.3 %, −0.1 ± 4.5 %, and −3.5 ± 3.1 % of the respective mean SV. These validation results show a good agreement between the proposed method and the reference, and demonstrate a fairly accurate and precise estimation of these spatial gait parameters. The proposed method paves the way for an objective quantification of spatial gait parameters in routine clinical practice.