BIOMEDICAL ENGINEERING VOLUME: 17 |NUMBER: 4 |2019 |DECEMBER
Senso A ay o E alua ion o Gai Cycle
Sla omi KARDOS, S anisla SLOSARCIK, Pe e BALOG
Depa men o Technologies in Elec onics, Facul y o Elec ical Enginee ing and In o ma ics,
Technical Uni e si y o Kosice, Le na 9, 042 00 Kosice, Slo ak Republic
sla omi .ka dos@ uke.sk, s anisla .slosa cik@ uke.sk, pe e .balog.2@ uke.sk
DOI: 10.15598/aeee. 17i4.3352
Abs ac . The gai mo ion is an essen ial pa o he
li e o e e y human being. The e alua ion o human
mo ion is a subjec o complex app oach and knowl-
edge in he biomechanics a ea wi h applica ion in o ho-
pedics, he apy and comme cial spo ing applica ions.
The moni o ing and diagnos ics allow de e mining he
backg ound o mo ion indi iduali ies and he de ec s
easons and impac s. The a icle desc ibes he pos-
sibili ies o gai cycle sensing, which has he po en-
ial o use in medical diagnos ics and ehabili a ion
p ocess moni o ing. The sys em inco po a es a ma ix
o ou FSR (Fo ce Sensing Resis o ) p essu e senso s
and an accele ome ic uni o he possibili y o pos-
u e and s ep cycle e alua ion so ha i can be u i-
lizable a diagnos ic o ehabili a ion du ing gai cycle
e- aining o spo ing ac i i ies moni o ing.
Keywo ds
Accele ome e , FSR senso , gai sensing, hu-
man mo ion, mic ocon olle , senso a ay.
1. In oduc ion
Real- ime o logged sensing o gai pa ame e s allows
he human gai analysis in medical p axis, which has
a wide applica ion a ea in he ehabili a ion p ocess
and acco dingly allows ea ly disco e ing o some deg a-
da ion p ocesses. Fo he pu pose o he gai cycle
moni o ing, he o ce and ine ial senso s a e mainly
used. The ollowing analysis is applied using known
e e ence da a o no mal and de ec i e p o iles o gai
[1], [2] and [3].
The senso s o mo emen , o ce, loading o p es-
su e measu emen a e p oduced in a ious cons uc-
ions. Acco ding o he applica ion and equi ed sen-
si i i y o sensing, he conc e e ones a e used [4], [5]
and [6]. In echnical as well as medical p axis, he
FSRs a e widely applied o measu emen o p essu e
o loading ela ed pa ame e s. They consis o a laye
o a conduc i e polyme , which change i s nominal e-
sis ance by applica ion o he o ce a he su ace o he
senso ac i e a ea. The inne s uc u e inco po a es
a sys em o elec ically conduc i e composi ion wi h
he non-conduc i e pa icles suspended in he solid
polyme ma ix. The size o he ac i e pa icles is in
sub-mic ome e o de , and hey a e u he composed
o compensa e o he esis i i y empe a u e depen-
dence. The applica ion o he pe pendicula o ce a
he su ace o he FSR senso causes he dila a ion o
he s uc u e and consequen ly, he esis ance dec eas-
ing as well. The meaning ul bene i o hese senso s is
in he hin p o ile o less han 0.5 mm in hickness [7].
U iliza ion o accele ome ic uni s allows high sen-
si i e ine ial measu emen s o mo ion pa ame e s,
which has he impac in o a wide ange o indus ial ap-
plica ions. Acco ding o he pa icula ype, hey ha e
compa a i ely low p oduc ion cos s and good mechan-
ical esis ance. Mo eo e , hey a e he only al e na i e
in many applica ions due o he size and sensi i i y.
2. Senso Sys em wi h
U iliza ion o FSR and
Accele ome e
The human pos u e and gai a e gi en by he indi idual
gi enness and habi s ha a e in luenced by a kind o
li e as well as degene a ion p ocesses. The human sole
is an a ea o na u ally une en dis ibu ed loading du -
ing he gai cycle. The dis ibu ion o he sole loading
leads o sense i by a mul i-channel senso sys em wi h
app op ia e dis ibu ed senso segmen s in he a ange-
men which allow he analysis o he gai . Wi h ega d
o he cha ac e o he p oblema ics, he ou -channel
loading senso sys em was designed as an op imal se -
up which co esponds o he measu emen in ou sole
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a eas (see Fig. 1). The i s wo measu emen poin s
we e de e mined in he heel oo a ea, and he nex wo
poin s a e localized in on o he plan a a ch a ea.
Such applica ion ypes equi e he implemen a ion o
he senso ma ix in he insole, including he equi e-
men s o he compac and hin p o ile acco ding o
i s speci ic localiza ion, esis ance o he p essu e and
shea ela ed mechanic s ess and o he p esence o
he mois u e in a ull ela i e humidi y ange due o
agg essi e swea in luence possibili y.
Flexible polyu e hane oam
Alloca ion o plan a a ch FSR senso s
Alloca ion o heel
FSR senso s
FSR senso s ou pu s
S ainless s eel pla e
Fig. 1: Alloca ion o he FSR senso a ay embedded in he
insole.
Assuming he men ioned equi emen s, he Tekscan
FlexiFo ce A201 o ce senso s (see Fig. 2) we e applied
as he sensing elemen s a he sensing poin s.
P essu e sensi i e a ea wi h esis i e laye
Connec o
Polyes e subs a e
Ag elec odes
The leng h adjus able om 51 o 152 mm
(a)
ADHESIVE
LAYER
PRESSURE-
SENSITIVE
LAYER
CONDUCTIVE
LAYER
FLEXIBLE
SUBSTRATE
(b)
Fig. 2: The Tekscan FlexiFo ce A201 mechanical o ce / loading
senso (a) and he simpli ied s uc u e o he senso in
decomposed iew (b) [7].
The senso elemen is 0.2 mm hin, lexible compo-
nen , which is easy o in eg a e in o a ge applica-
ions which ha e he space limi a ions. The o e all
senso wid h is 14 mm, and he diame e o he ac i e
a ea is 9.53 mm. The cons uc ion o he senso inco -
po a es wo lexible polyes e subs a es on which he
conduc i e sil e in e connec ion laye is applied. The
mechanical s ess-sensi i e laye is applied be ween he
subs a es, and he o e all s uc u e is lamina ed using
polyme adhesi e. The ac i e sensing a ea is de ined
by ci cula sil e laye elec odes, which a e elonga ed
h ough he lexible in e connec ion cable o he con-
nec o , whe e he leng h can be adjus ed. The ope a-
ional empe a u e ange o he senso is de ined om
−40 o 60 ◦C. The signal esponse ime is gua an eed
less han 5µs, which is ully su icien o he applica-
ion [7] due o gai equency and dynamics.
The sensing a ea o he p essu e senso is no su -
icien enough o he dis ibu ed load sensing in he
sense o he su ace a ea so he addi ional mechani-
cal elemen s we e added in he o m o he mechani-
cal ansduce and loading ac ua o . The mechanical
ansduce allows expanding he loading a ea o he
ou e pa o he insole and he loading ac ua o allows
he concen a ion o he loading o he sensing a ea
(see Fig. 3). The ou mechanical ansduce s we e
ealized using molded polyamide. The inco po a ed
loading ac ua o s a e disc-like p o ile elemen s wi h
a ound base, which a e abou 70 % o sensing a ea o
he p essu e senso acco ding o p oduce ecommen-
da ions in he p oduc ion da a lis . The loading o ce
applica ion has inco po a ed a shea o ce componen
which can cause he displacemen o he disc elemen
ou o he sensing a ea. Fo he pu pose o elimina-
ion o ha un a o able e ec , he PET oil is inse ed
be ween he mechanical ansduce elemen and disc
ac ua o . In such a con igu a ion, he p o ec i e oil
will shi i shea o ce is p esen . So he disc elemen
e ains ixed o he p essu e senso . The men ioned
senso sys em a angemen is inse ed be ween he wo
s ainless-s eel pla es. The polyu e hane oam was used
as he illing medium o he es o he sys em.
Dis ibu ed loading
S ainless s eel
pla es
Mechanical
ansduce
FSR senso
14 mm wid h
P essu e sensi i e laye
9.53 mm wid h
Disc loading ac ua o
Flexible
polyu e hane
oam
P o ec i e PET oil
Fig. 3: The cons uc ion a angemen o an elemen al sensing
elemen wi h he mechanical ansduce and he loading
ac ua o .
The ADXL345 (Analog De ices) was u ilized as he
accele ome ic uni o mo ion sensing, which p o ides
p econdi ioned da a in digi al o m (see Fig. 3). The
accele ome e is based on a ia ion o mo ion eloc-
i y sensing and in he o hogonal sys em, he 3-axis
in e p e a ion is needed [8]. In case o wide u ilized
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capaci i e MEMS (Mic o-Elec o-Mechanical-Sys em)
accele ome ic sys em, he ac ual accele a ion is p o-
po ional o he capaci ance change and a e con e -
sion o he ol age change by:
a=kd
mU U0(m·s−2),(1)
whe e kis he sp ing cons an (s i ness o polyc ys-
alline silicon sp ing), dis he idle-s a e gap be ween
he elec odes in (m), and min (kg) is ela ed o a mass
o he polyc ys alline silicon seismic elemen .
3-AXIS
SENSOR
SENSE
ELECTRONICS
ADC
DIGITAL
FILTER
32 LEVEL
FIFO
SERIAL I/O
CONTROL
AND
INTERRUPT
LOGIC
POWER
MANAGEMENT
T
ADXL345
Fig. 4: The ADXL345 3-axis accele ome e uni wi h he signal
p econdi ioning and I2C digi al d i e [8].
The accele ome e da a a e in o ma ion abou ac ual
accele a ion in (m ·s−2) so ha i is possible o e alu-
a e he dynamic a ia ion o eloci y in ime unde he
gi en bandwid h. Indi idual accele ome e changes i s
measu emen sensi i i y ( he change in ou pu by he
co esponding change in inpu ) due o sinusoidal de-
pendence. I means ha he g a i y p oduces he ac-
cele a ion ou pu p opo ional o he sine o he angle
be ween he senso (a he equipmen ) and he na u al
ho izon (o hogonal o he g a i y ec o ):
a(g)=gsin θ(m·s−2),(2)
whe e gis he g a i a ional o s a ic accele a ion in
(m·s−2), and θis he inclina ion angle in ( ad) ela i e
o he ho izon, so ha i s alue is p opo ional o he
in e se sine unc ion o he o hei a io:
θ= sin−1a(g)
g( ad).(3)
Consequen ly, he angle change du ing accele ome e
da a in e p e a ion can be calcula ed by he iangle
cosine heo em:
φ= cos−1axbx+ayby+azbz
qa2
x+a2
y+a2
zqb2
x+b2
y+b2
z
( ad),(4)
whe e aand bin (m·s−2) a e he accele a ion alues be-
ween he wo accele ome e eadings in he espec i e
di ec ions [9], [10] and [11].
3. The FSR and Accele ome e
Signal P ocessing
The senso sys em is ollowed by he elec onic ci -
cui , including ou -channel FSR senso signal p econ-
di ioning, mic ocon olle o da a acquisi ion and p e-
p ocessing, powe managemen including cha ging and
wi eless module o da a ansmission. P econdi ioning
o he signal om FSR senso s is ealized by MCP6004
in eg a ed quad uple analog ope a ional ampli ie (see
Fig. 5(a)). The p essu e sensing ange and he sensi-
i i y a e adjus able by he e e ence and eedback o
he ampli ie .
(a)
(b)
Fig. 5: The FSR senso s signal p econdi ioning ampli ie ci -
cui y (a) and he accele ome e senso in e acing ci -
cui y (b).
The single-sou ce ope a ion is mo e sui able o he
po able applica ion, mo eo e , wi hou he meaning-
ul linea i y d op-ou , bu he eedback ange is mo e
limi ed han wi h he dual (symme ic) sou ce. So ha
he signal condi ioning o such ype was used wi h he
ou pu ol age delimi ed by:
Vou =V e
RF B
RF F
(V),(5)
whe e V e is he e e ence ol age in (V), RF B is he
eedback esis o esis ance in (Ω) (Rsin he schema -
ics on he Fig. 5), and RF F is he senso esis ance in
(Ω) (FlexiFo ce connec o in Fig. 5).
The signal om he ADXL345 is condi ioned by e -
e encing a he e e ence condi ions by he so wa e.
Also, he measu emen ange o he accele ome e is
adjus able by so wa e and is su icien as ±2g o s an-
da d gai . Due o I2C ype digi al bus, only he 10 kΩ
pull-up esis o s we e added o he SDA and SCL com-
munica ion pins (see Fig. 5(b)).
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The digi aliza ion o he signal om he FSR sen-
so s is ealized by he 10-bi ADC o A mel AT-
mega328 mic ocon olle [12]. The p e-p ocessed da a
a e di ec ed o SPP-C ype Blue oo h 2.0 uni , which
allows he communica ion wi h he mic ocon olle
h ough s anda d UART se ial bus. The powe man-
agemen o he mic ocon olle module includes he
MCP73831T in eg a ed cha ge d i e , he minia u e
p isma ic 130 mAh accumula o and he 10A45 5 V
Swi ched-Mode Powe Sou ce (SMPS) boos con e e
[13], [14] and [15]. The o e all elec onic sys em unc-
ional block schema ic diag am is desc ibed in Fig. 6
and he ealized module in Fig. 7 wi h he desc ip ion
o he main componen s.
USB/UART
ex . module
Ex . USB
connec o
Powe
managemen
Cha ge uni
Blue oo h
Accumula o
Condi ioning
+
-
Mic o-
con olle
3-axis
accele ome e
4x
FSR
Fig. 6: The block diag am o he FSR and accele ome ic sen-
so sys em wi h signal p ocessing ci cui y and mic o-
con olle module componen s.
The accumula o ene gy capaci y was calcula ed e-
ga ding he ene ge ic needs o he o e all sys em. Due
o a ious componen s, he ol age le els also had o
be adap ed. The ope a ional cu en consump ion o
he ou FSR senso s is 0.4 mA including condi ion-
ing ope a ional ampli ie , and is limi ed by he cu -
en noise and in e e ence le el. The mic ocon olle
cu en consump ion is 9 mA, he Blue oo h uni con-
sumes 8 mA du ing communica ion so ha he powe
consump ion o he o e all sys em wi h addi ional loses
a 5 V cha ge pump boos swi ching sou ce is 100 mW
in maximum. Tha esul s in app oxima ely 5–6 hou s
o 130 mAh accumula o ope a ion wi h he elec oni-
cally limi ed ol age.
The p isma ic Li-ion accumula o was selec ed due
o i s e y low p o ile which wi h he su ace moun ed
de ices a he ibe -glass epoxy subs a e esul s in o
only 3 mm o e all hickness and 48 ×55 mm size o
he module. This p ope y pe spec i ely allows he
in eg a ion o he module in o shoe insole oge he wi h
he FSR senso s.
MCP73831T
cha ging uni
130 mAh Li-ion
acc
Powe swi ch
10A45 boos
DC/DC con e e
P og amming and
cha ging connec o
MCP6004 quad uple
ope a ional ampli ie
ATmega328
mic ocon olle
Blue oo h uni
FSR senso s inpu
ADXL345
3-axis accele ome e
Fig. 7: The FSR and accele ome ic senso sys em signal p o-
cessing mic ocon olle module including powe man-
agemen .
The mic ocon olle code p o ides ini ializa ion o
senso channels, se ing o communica ion p o ocols
and ans e a es o he digi al buses, he da a acqui-
si ion, i s p ocessing and consequen wi eless ans e
h ough he SPP-C Blue oo h uni o he PC applica-
ion.
An FSR senso applica ion is p eceded by ini ial-
iza ion using he me hodology s a ed in he p oduc
da ashee . The p ocess s a ed by loading o each sen-
so by 110 % o he ope a ional ange du ing 3 seconds
and epea ed i e imes. The nex s ep included p o-
g essi e loading by 1/3, 2/3 o he ull loading. The
ini ializa ion was no applied on a ba e senso , bu he
ull mechanical chain desc ibed in Fig. 3 wi h esul an
con e sion cu es in Fig. 8 was e alua ed.
1
2
3
4
5
5 15 25 35 45
Vol age (V)
Load (kg)
Senso 1
Senso 2
Senso 3
Senso 4
Linea 1
Linea 2
Linea 3
Linea 4
Fig. 8: The g aphical dependencies o FSR senso s ou pu s
which we e condi ioned by a ecommended mechanical
loading.
A e he condi ioning, measu emen ange and sen-
si i i y se ing, he senso segmen s we e e alua ed o
hys e esis in he loading ange om 5 o 50 kg due o
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mechanical ansduce and loading ac ua o in luence.
The esul an hys e esis (see Fig. 8) means up o 2 %
de ia ion be ween inc easing and dec easing loading a
he pa icula senso segmen .
1
2
3
4
5
5 15 25 35 45
Vol age (V)
Load (kg)
Senso 1 (5 kg → 50 kg)
Senso 1 (50 kg → 5 kg)
(a) Senso 1.
1
2
3
4
5
5 15 25 35 45
Vol age (V)
Load (kg)
Senso 3 (5 kg → 50 kg)
Senso 3 (50 kg → 5 kg)
(b) Senso 3.
Fig. 9: G aphical dependencies o condi ioned FSR senso hys-
e esis ( he Senso 1 om heel oo a ea and he Senso 3
om he plan a a ch a ea).
The expe imen al mechanical loading es ing was e-
alized a Tes ome ic M250-2.5CT equipmen . The
esul an con e sion cha ac e is ics o he senso ma-
ix we e used o e alua ion o loading in e p e a ion,
which is in luenced by o e all mechanical s uc u e.
4. In e p e a ion So wa e
The FSR senso s da a a e help ul o pos u e as well as
gai cycle loading analysis. In he module, he senso s
a e dis ibu ed acco ding o ele an loading poin s in
he plan a a ea so ha he subs an ial di e ences be-
ween he le and igh oo as well as de ia ions in
compa ison wi h a no mal gai can be iden i ied and
analyzed. Fo he loading ac i i y moni o ing, he
da a acquisi ion wi h he g aphical use in e ace (see
Fig. 10) unde he LabVIEW applica ion was c ea ed
wi h he u he possibili y o s a is ical ea men .
The pos -p ocessing o acqui ed da a is ealized in
he Mo ion Logge applica ion unde he LabVIEW
sys em [16], which was de eloped o he pu poses o
ine ial senso s da a p ocessing.
Fig. 10: The Foo Balance applica ion g aphical use in e ace
in he LabVIEW sys em [15] o oo loading e alua-
ion du ing a gai cycle.
Fig. 11: The Mo ion Logge g aphical use in e ace in he Lab-
VIEW applica ion o measu emen o mo ion dynam-
ics by he 3-axis accele ome e du ing a gai cycle.
The condi ioning includes digi al il a ion ealized
by con igu able bandpass Bu e wo h ype il e [17],
[18], [19], [20] and [21]. The pu pose o he il e is o
elimina e he s a ic accele a ion (g a i y) componen s
as well as he elimina ion o highe equency compo-
nen s which occu by noise and signals gene a ed by
human body biological p ocesses and o he ou e in lu-
ences. In he LabVIEW applica ion, he e is a possi-
bili y o selec he measu emen mode and addi ional
pa ame e s including ype and pa ame e s o he il a-
ion.
The addi ional pa ame e s and unc ions a e a ail-
able as he o se , sample a e and a e aging o da a
(see Fig. 11).
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In Fig. 12 and Fig. 13, he expe imen al plo s ep e-
sen he single s ep signal o 2 selec ed channel FSR
and 3-axis accele ome e ou pu .
Fig. 12: The single s ep sample signal o he 2-channel FSR
( o he heel oo a ea in blue and o he plan a a ch
a ea in ed).
Fig. 13: The single s ep sample signal o he 3-axis accele om-
e e ( o ans e sal axis in blue, o longi udinal axis
in ed and o e ical axis in g een (un il e ed g)).
Based on FSR senso s and accele ome e da a in e -
p e a ion, he a ious ypes o pos u e and gai aul
a ia ions due o a ious ac o s can be ecognized by
he medical s a :
•une en pos u e ela i e p oblems,
•p og essing os eopo osis,
•muscula dys ophy,
• a ious gai i egula i ies.
The egene a ion p ocesses a e he inju y acciden s
can also be e alua ed by compa ison measu emen s. In
addi ion, spo s ac i i ies in ama eu o p o essional
scale can be e alua ed using gai moni o ing as well.
5. Conclusion
In he a icle, he ou -channel loading and 3-axis mo-
ion senso sys em wi h signal p ocessing elec onics
module was designed and ealized by he applica ion
equi emen s. The buil senso sys em consis s o ou
FSR p essu e senso s which we e embedded in he heel
and plan a a ch a ea acco ding o he physiology o
he human oo , and he 3-axis accele ome e was a -
ached o he p ocessing elec onics module. The mi-
c ocon olle module includes he condi ioning, digi al-
iza ion, p e-p ocessing and wi eless ansmission wi h
he in eg a ed accumula o and powe managemen .
The module was designed as a la 3 mm s uc u e
which is applicable o embedding in o a cus omized
shoe insole. The sys em can be u ilized o lowe limb
gai and loading analysis wha means he ac i e sens-
ing o mo ion ac i i ies including ehabili a ion d i e
simula o and o o he spo s and ehabili a ion pu -
poses. The con inuing wo k is aimed o signal il a ion
and de ailed in e p e a ion o he accele ome e da a.
Acknowledgmen
This con ibu ion is as a pa o he wo k unde he
VEGA 1/0224/18 p ojec . Special hanks belong o
Ma in S upak o ac i e pa icipa ion on he wo k.
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Abou Au ho s
Sla omi KARDOS de ended his Ph.D. hesis in
he ield o capaci i e posi ion senso s in 2007 a he
Depa men o Technologies in Elec onics, Technical
Uni e si y o Kosice. His wo k is ocused on in e -
connec ion echniques, ine hick ilm echnologies,
passi e componen s and MEMS echnologies.
S anisla SLOSARCIK is a ull p o esso a
he Depa men o Technologies in Elec onics, Tech-
nical Uni e si y o Kosice. His wo k is ocused on
in e connec ion and moun ing echnologies in elec-
onics, LTCC-based 3D-shaped modules, senso s and
echnologies o 3D in eg a ion o sys ems.
Pe e BALOG de ended his diploma hesis in
2014 a he Depa men o Technologies in Elec onics,
Technical Uni e si y o Kosice whe e he de ended
his Ph.D. hesis in he same yea . The heme o
his disse a ion hesis was "Sys em o Mo emen
o Pa aplegics".
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2019 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 465