Bilateral step length estimation using a single inertial measurement unit attached to the pelvis

The IMU was placed at pelvis level fixed to the subject's belt on the right side. The method was validated using measurements from a stereo-photogrammetric system as a gold standard on nine subjects walking ten laps along a closed loop track of about 25 m, varying their speed. For each loop, only the IMU data recorded in a 4 m long portion of the track included in the calibrated volume of the SP system, were used for the analysis. The method takes advantage of the cyclic nature of gait and it requires an accurate determination of the foot contact instances. A combination of a Kalman filter and of an optimally filtered direct and reverse integration applied to the IMU signals formed a single novel method (Kalman and Optimally filtered Step length Estimation - KOSE method). A correction of the IMU displacement due to the pelvic rotation occurring in gait was implemented to estimate the step length and the traversed distance.The step length was estimated for all subjects with less than 3% error. Traversed distance was assessed with less than 2% error.The proposed method provided estimates of step length and traversed distance more accurate than any other method applied to measurements obtained from a single IMU that can be found in the literature. In healthy subjects, it is reasonable to expect that, errors in traversed distance estimation during daily monitoring activity would be of the same order of magnitude of those presented.The measurement of temporal and spatial features of gait is essential for the assessment of gait abnormalities and the quantitative evaluation of treatment outcomes [1]. In particular, amplitude, variability and asymmetry of step length (SL) have been shown to be effective outcomes of walking ability. In fact, they are strongly related to the propulsion generation and can be representative of the compensatory mechanisms adopted in pathological walking [2,3]. Having access to instruments capable of gathering information about the patient walkin