Diagnosing gait disorders based on angular variations of knee and ankle joints utilizing a developed wearable motion sensor

Here, a sensory motion system is developed to diagnose gait disorders using the estimation of angular variations in the knee and ankle joints. The sensory system includes two transmitter sensors and a central node, where each transmitter comprises three sensors of accelerometer, gyroscopes, and magnetometer to estimate the angular movements in the ankle and knee joints. By using a proposed filter, the angular variation is estimated in a personal computer employing the raw data of the motion sensors that are sent by the central node. The obtained results of the presented filter in comparison to an actual reference illustrate that the root mean square error is less than 1.01, 1.34, and 1.61 degrees, respectively, for the angles of [Formula: see text] and [Formula: see text] and [Formula: see text] that illustrate an improvement of 40% than the previous work. Moreover, a quantity value is defined based on the correlation between knee and ankle angles that show the amount of correctness in gating. Thus, the proposed system can be utilized for people who suffer problems in gait and help them to improve their movements.