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Integration of Human Walking Gyroscopic Data Using Empirical Mode Decomposition Vincent Bonnet 84185aacc62b87a22fa22c34c2a92ee4 laas.fr vincent-bonnet 1212642 174963-1212642 https://orcid.org/0000-0001-5367-711X https://scholar.google.fr/citations?user=z0qMzzIAAAAJ Sofiane Ramdani e0375752f5d4be8e24c547442dcae9a6 univ-montp1.fr 1120038 368710-1120038 https://orcid.org/0000-0001-8925-3546 Christine Azevedo Coste 2feb9638f04403aa2c1fc0c7a9df6fce lirmm.fr christine-azevedo-coste 8632 17738-8632 https://www.idref.fr/069528179 https://orcid.org/0000-0002-7379-8004 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 Claudia Mazza 696112-0 Aurelio Cappozzo 696113-0 Christine Azevedo Coste 937806d5615bdf9e69a6e0b7ebdadb42 inria.fr 2014-03-07 07:51:09 2025-08-26 15:21:01 2014-03-21 13:22:24 2014 2014-03-07 contributor Christine Azevedo Coste 937806d5615bdf9e69a6e0b7ebdadb42 inria.fr CCSD lirmm-00922705 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00922705 bonnet:lirmm-00922705 <i>Sensors</i>, 2014, 14 (1), pp.370-381. <a target="_blank" href="https://dx.doi.org/10.3390/s140100370">⟨10.3390/s140100370⟩</a> Sensors, 2014, 14 (1), pp.370-381. ⟨10.3390/s140100370⟩ HAL Authorization CNRS - Centre national de la recherche scientifique INRIA - Institut National de Recherche en Informatique et en Automatique Université Montpellier I INRIA Sophia Antipolis - Méditerranée INRIA-SOPHIA INRIA - Institut National de Recherche en Informatique et en Automatique TESTALAIN1 DEambulation et Mouvement ARtificiel Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier INRIA 2 Control of Artificial Movement & Intuitive Neuroprosthesis Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Université Côte d'Azur Université Montpellier 1 - Université Montpellier 2 Université de Montpellier (2015-2021) International No Yes Integration of Human Walking Gyroscopic Data Using Empirical Mode Decomposition Vincent Bonnet 84185aacc62b87a22fa22c34c2a92ee4 laas.fr vincent-bonnet 1212642 174963-1212642 https://orcid.org/0000-0001-5367-711X https://scholar.google.fr/citations?user=z0qMzzIAAAAJ Sofiane Ramdani e0375752f5d4be8e24c547442dcae9a6 univ-montp1.fr 1120038 368710-1120038 https://orcid.org/0000-0001-8925-3546 Christine Azevedo Coste 2feb9638f04403aa2c1fc0c7a9df6fce lirmm.fr christine-azevedo-coste 8632 17738-8632 https://www.idref.fr/069528179 https://orcid.org/0000-0002-7379-8004 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 Claudia Mazza 696112-0 Aurelio Cappozzo 696113-0 55556 1424-8220 Sensors MDPI 14 1 370-381 2014 10.3390/s140100370 English empirical mode decomposition (EMD) inertial measurement unit (IMU) human walking motion analysis Engineering Sciences [physics] Journal articles Journal articles Journal articles

The present study was aimed at evaluating the Empirical Mode Decomposition (EMD) method to estimate the 3D orientation of the lower trunk during walking using the angular velocity signals generated by a wearable inertial measurement unit (IMU) and notably flawed by drift. The IMU was mounted on the lower trunk (L4-L5) with its active axes aligned with the relevant anatomical axes. The proposed method performs an offline analysis, but has the advantage of not requiring any parameter tuning. The method was validated in two groups of 15 subjects, one during overground walking, with 180°turns, and the other during treadmill walking, both for steady-state and transient speeds, using stereophotogrammetric data. Comparative analysis of the results showed that the IMU/EMD method is able to successfully detrend the integrated angular velocities and estimate lateral bending, flexion-extension as well as axial rotations of the lower trunk during walking with RMS errors of 1 deg for straight walking and lower than 2.5 deg for walking with turns.

Laboratory of Locomotor Apparatus Bioengineering LABLAB

Department of Human Movement and Sports Sciences, University of Rome "Foro Italico", Piazza Lauro de Bosis 6, 00194 Rome, Italy

http://www.lablab.eu/ Efficience Déficience Motrice [Montpellier] EDM 2011-01-01

700, avenue du Pic St Loup, 34090 Montpellier

http://www.univ-montp1.fr 200318382X Artificial movement and gait restoration DEMAR 2003-10-01 2015-12-31

http://www.lirmm.fr/demar/ 16726883X 0000000085806601 https://ror.org/03j4zvd18 Q3152661 Università degli studi di Roma “Foro Italico” [Italia] = Foro Italico University of Rome [Italy] [Istituto Universitario di Scienze Motorie (UIMS) = University Institute of Motor Sciences] 1998-05-08

Piazza Lauro de Bosis, 15 – 00135 Roma – Italia

http://www.uniroma4.it/ Université Montpellier 1 UM1 2014-12-31

5, boulevard Henri IV - CS 19044 - 34967 Montpellier cedex

http://www.univ-montp1.fr/ 139590827 0000000405990488 199111950H https://ror.org/013yean28 Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier LIRMM 1995-01-01 2021-12-31

161 rue Ada - 34095 Montpellier

https://www.lirmm.fr 0000000120970141 https://ror.org/051escj72 Université de Montpellier UM 2021-12-31

163 rue Auguste Broussonnet - 34090 Montpellier

http://www.umontpellier.fr/ 02636817X 0000000122597504 https://ror.org/02feahw73 Centre National de la Recherche Scientifique CNRS 1939-10-19

https://www.cnrs.fr/ 198318250R https://ror.org/01nzkaw91 Centre Inria d'Université Côte d'Azur

2004 route des Lucioles BP 93 06902 Sophia Antipolis

http://www.inria.fr/centre/sophia/ https://ror.org/02kvxyf05 Institut National de Recherche en Informatique et en Automatique Inria

Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex

http://www.inria.fr/en/