Method for Estimating Three-Dimensional Knee Rotations Using Two Inertial Measurement Units: Validation with a Coordinate Measurement Machine.

Three-dimensional rotations across the human knee serve as important markers of knee health and performance in multiple contexts including human mobility, worker safety and health, athletic performance, and warfighter performance. While knee rotations can be estimated using optical motion capture, that method is largely limited to the laboratory and small capture volumes. These limitations may be overcome by deploying wearable inertial measurement units (IMUs). The objective of this study is to present a new IMU-based method for estimating 3D knee rotations and to benchmark the accuracy of the results using an instrumented mechanical linkage. The method employs data from shank- and thigh-mounted IMUs and a vector constraint for the medial-lateral axis of the knee during periods when the knee joint functions predominantly as a hinge. The method is carefully validated using data from high precision optical encoders in a mechanism that replicates 3D knee rotations spanning (1) pure flexion/extension, (2) pure internal/external rotation, (3) pure abduction/adduction, and (4) combinations of all three rotations. Regardless of the movement type, the IMU-derived estimates of 3D knee rotations replicate the truth data with high confidence (RMS error < 4 ° and correlation coefficient r ≥ 0.94 ).

Estimating Stair Running Performance Using Inertial Sensors.

Stair running, both ascending and descending, is a challenging aerobic exercise that many athletes, recreational runners, and soldiers perform during training. Studying biomechanics of stair running over multiple steps has been limited by the practical challenges presented while using optical-based motion tracking systems. We propose using foot-mounted inertial measurement units (IMUs) as a solution as they enable unrestricted motion capture in any environment and without need for external references. In particular, this paper presents methods for estimating foot velocity and trajectory during stair running using foot-mounted IMUs. Computational methods leverage the stationary periods occurring during the stance phase and known stair geometry to estimate foot orientation and trajectory, ultimately used to calculate stride metrics. These calculations, applied to human participant stair running data, reveal performance trends through timing, trajectory, energy, and force stride metrics. We present the results of our analysis of experimental data collected on eleven subjects. Overall, we determine that for either ascending or descending, the stance time is the strongest predictor of speed as shown by its high correlation with stride time.

Quantifying warfighter performance during a bounding rush (prone-sprinting-prone) maneuver.

A single sacrum mounted inertial measurement unit (IMU) was employed to analyze warfighter performance on a bounding rush (prone-sprinting-prone) task. Thirty-nine participants (23M/16F) performed a bounding rush task consisting of four bounding rush cycles. The sacrum mounted IMU recorded angular velocity and acceleration data were used to provide estimates of sacral velocity and position. Individual rush cycles were parsed into three principal movement phases; namely, the get up, sprint, and get down phases. The timing of each phase was analyzed, averaged for each participant, and compared to the overall rush cycle time using regression analysis. A cluster analysis further reveals differences between high and low performers. Get down time was most predictive of bounding rush performance (R2 = 0.75) followed by get up time (R2 = 0.58) and sprint time (R2 = 0.40). Comparing high and low performers, the get down time exhibited nearly twice the effect on mean rush cycle time compared to get up time (effect size of -2.61 to -1.46, respectively). Overall, this IMU-based method reveals key features of the bounding rush that govern performance. Consequently, this objective method may support future training regimens and performance standards for military recruits, and parallel applications for athletes.

Human crawling performance and technique revealed by inertial measurement units.

Human crawling performance and technique are of broad interest to roboticists, biomechanists, and military personnel. This study explores the variables that define crawling performance in the context of an outdoor obstacle course used by military organizations worldwide to evaluate the effects of load and personal equipment on warfighter performance. Crawling kinematics, measured from four body-worn inertial measurement units (IMUs) attached to the upper arms and thighs, are recorded for thirty-three participants. The IMU data is distilled to four metrics of crawling performance; namely, crawl speed, crawl stride time, ipsilateral limb coordination, and contralateral limb coordination. We hypothesize that higher performance (as identified by higher crawl speeds) is associated with more coordinated limbs and lower stride times. A cluster analysis groups participants into high and low performers exhibiting statistically significant differences across the four performance metrics. In particular, high performers exhibit superior limb coordination associated with a "diagonal gait" in which contralateral limbs move largely in-phase to produce faster crawl speeds and shorter crawl stride times. In contrast, low performers crawl at slower speeds with longer crawl stride times and less limb coordination. Beyond these conclusions, a major contribution of this study is a method for deploying wearable IMUs to study crawling in contextually relevant (i.e. non-laboratory) environments.

Body-worn IMU array reveals effects of load on performance in an outdoor obstacle course.

This study introduces a new method to understand how added load affects human performance across a broad range of athletic tasks (ten obstacles) embedded in an outdoor obstacle course. The method employs an array of wearable inertial measurement units (IMUs) to wirelessly record the movements of major body segments to derive obstacle-specific metrics of performance. The effects of load are demonstrated on (N = 22) participants who each complete the obstacle course under four conditions including unloaded (twice) and with loads of 15% and 30% of their body weight (a total of 88 trials across the group of participants). The IMU-derived performance metrics reveal marked degradations in performance with increasing load across eight of the ten obstacles. Overall, this study demonstrates the significant potential in using this wearable technology to evaluate human performance across multiple tasks and, simultaneously, the adverse effects of body-borne loads on performance. The study addresses a major need of military organizations worldwide that frequently employ standardized obstacle courses to understand how added loads influence warfighter performance. Importantly, the findings and conclusions drawn from IMU data would not be possible using traditional timing metrics used to evaluate task performance.

Load-embedded inertial measurement unit reveals lifting performance.

Manual lifting of loads arises in many occupations as well as in activities of daily living. Prior studies explore lifting biomechanics and conditions implicated in lifting-induced injuries through laboratory-based experimental methods. This study introduces a new measurement method using load-embedded inertial measurement units (IMUs) to evaluate lifting tasks in varied environments outside of the laboratory. An example vertical load lifting task is considered that is included in an outdoor obstacle course. The IMU data, in the form of the load acceleration and angular velocity, is used to estimate load vertical velocity and three lifting performance metrics: the lifting time (speed), power, and motion smoothness. Large qualitative differences in these parameters distinguish exemplar high and low performance trials. These differences are further supported by subsequent statistical analyses of twenty three trials (including a total of 115 total lift/lower cycles) from fourteen healthy participants. Results reveal that lifting time is strongly correlated with lifting power (as expected) but also correlated with motion smoothness. Thus, participants who lift rapidly do so with significantly greater power using motions that minimize motion jerk.

Quantifying performance on an outdoor agility drill using foot-mounted inertial measurement units.

Running agility is required for many sports and other physical tasks that demand rapid changes in body direction. Quantifying agility skill remains a challenge because measuring rapid changes of direction and quantifying agility skill from those measurements are difficult to do in ways that replicate real task/game play situations. The objectives of this study were to define and to measure agility performance for a (five-cone) agility drill used within a military obstacle course using data harvested from two foot-mounted inertial measurement units (IMUs). Thirty-two recreational athletes ran an agility drill while wearing two IMUs secured to the tops of their athletic shoes. The recorded acceleration and angular rates yield estimates of the trajectories, velocities and accelerations of both feet as well as an estimate of the horizontal velocity of the body mass center. Four agility performance metrics were proposed and studied including: 1) agility drill time, 2) horizontal body speed, 3) foot trajectory turning radius, and 4) tangential body acceleration. Additionally, the average horizontal ground reaction during each footfall was estimated. We hypothesized that shorter agility drill performance time would be observed with small turning radii and large tangential acceleration ranges and body speeds. Kruskal-Wallis and mean rank post-hoc statistical analyses revealed that shorter agility drill performance times were observed with smaller turning radii and larger tangential acceleration ranges and body speeds, as hypothesized. Moreover, measurements revealed the strategies that distinguish high versus low performers. Relative to low performers, high performers used sharper turns, larger changes in body speed (larger tangential acceleration ranges), and shorter duration footfalls that generated larger horizontal ground reactions during the turn phases. Overall, this study advances the use of foot-mounted IMUs to quantify agility performance in contextually-relevant settings (e.g., field of play, training facilities, obstacle courses, etc.).

Quantifying warfighter performance in a target acquisition and aiming task using wireless inertial sensors.

An array of inertial measurement units (IMUS) was experimentally employed to analyze warfighter performance on a target acquisition task pre/post fatigue. Eleven participants (5M/6F) repeated an exercise circuit carrying 20 kg of equipment until fatigued. IMUs secured to the sacrum, sternum, and a rifle quantified peak angular velocity magnitude (PAVM) and turn time (TT) on a target acquisition task (three aiming events with two 180° turns) within the exercise circuit. Turning performance of two turns was evaluated pre/post fatigue. Turning performance decreased with fatigue. PAVMs decreased during both turns for the sternum (p < 0.001), sacrum (p = 0.007) and rifle (p = 0.002). TT increased for the sternum (p = 0.001), sacrum (p = 0.003), and rifle (p = 0.02) during turn 1, and for the rifle (p = 0.04) during turn 2. IMUs detected and quantified changes in warfighter aiming performance after fatigue. Similar methodologies can be applied to many movement tasks, including quantifying movement performance for load, fatigue, and equipment conditions.

Quantifying performance and effects of load carriage during a challenging balancing task using an array of wireless inertial sensors.

We utilize an array of wireless inertial measurement units (IMUs) to measure the movements of subjects (n=30) traversing an outdoor balance beam (zigzag and sloping) as quickly as possible both with and without load (20.5kg). Our objectives are: (1) to use IMU array data to calculate metrics that quantify performance (speed and stability) and (2) to investigate the effects of load on performance. We hypothesize that added load significantly decreases subject speed yet results in increased stability of subject movements. We propose and evaluate five performance metrics: (1) time to cross beam (less time=more speed), (2) percentage of total time spent in double support (more double support time=more stable), (3) stride duration (longer stride duration=more stable), (4) ratio of sacrum M-L to A-P acceleration (lower ratio=less lateral balance corrections=more stable), and (5) M-L torso range of motion (smaller range of motion=less balance corrections=more stable). We find that the total time to cross the beam increases with load (t=4.85, p<0.001). Stability metrics also change significantly with load, all indicating increased stability. In particular, double support time increases (t=6.04, p<0.001), stride duration increases (t=3.436, p=0.002), the ratio of sacrum acceleration RMS decreases (t=-5.56, p<0.001), and the M-L torso lean range of motion decreases (t=-2.82, p=0.009). Overall, the IMU array successfully measures subject movement and gait parameters that reveal the trade-off between speed and stability in this highly dynamic balance task.