Validation of a ROS-Based Synchronization System for Biomechanics Gait Labs

Ghidelli, Marco; Massardi, Stefano; Foletti, Luca; Gonzalez, Alberto Canton; Lancini, Matteo

doi:10.1109/mn55117.2022.9887745

Cited by 1 publication

(1 citation statement)

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“…A custom-made trigger box was used for data synchronization between the motion capture system, the force platforms, and the instrumented crutches [33]. The internal clock of the trigger box was synchronized with the same NTP server as that used for the instrumented crutches, and when it received a rising edge from the input channel, it published its timestamp in UNIX format through the ROS network.…”

Section: Experimental Set-upmentioning

confidence: 99%

Validation of Estimators for Weight-Bearing and Shoulder Joint Loads Using Instrumented Crutches

Ghidelli

Nuzzi

Crenna

et al. 2023

Sensors

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This research paper aimed to validate two methods for measuring loads during walking with instrumented crutches: one method to estimate partial weight-bearing on the lower limbs and another to estimate shoulder joint reactions. Currently, gait laboratories, instrumented with high-end measurement systems, are used to extract kinematic and kinetic data, but such facilities are expensive and not accessible to all patients. The proposed method uses instrumented crutches to measure ground reaction forces and does not require any motion capture devices or force platforms. The load on the lower limbs is estimated by subtracting the forces measured by the crutches from the subject’s total weight. Since the model does not consider inertia contribution in dynamic conditions, the estimation improves with low walking cadence when walking with the two-point contralateral and the three-point partial weight-bearing patterns considered for the validation tests. The shoulder joint reactions are estimated using linear regression, providing accurate values for the forces but less accurate torque estimates. The crutches data are acquired and processed in real-time, allowing for immediate feedback, and the system can be used outdoors in real-world walking conditions. The validation of this method could lead to better monitoring of partial weight-bearing and shoulder joint reactions, which could improve patient outcomes and reduce complications.

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Section: Experimental Set-upmentioning

confidence: 99%