{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,24]],"date-time":"2026-02-24T19:19:52Z","timestamp":1771960792860,"version":"3.50.1"},"reference-count":51,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2010,6,4]],"date-time":"2010-06-04T00:00:00Z","timestamp":1275609600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. Accurate determination of the Initial Contact of the foot with the floor (IC) and the final contact or Foot Off (FO) on different terrains is important. This paper describes the evaluation of a gyroscope placed on the shank for determination of IC and FO in subjects walking outdoors on level ground, and up and down an incline. Performance was compared with a reference pressure measurement system. The mean difference between the gyroscope and the reference was less than \u201325 ms for IC and less than 75 ms for FO for all terrains. Detection success was over 98%. These results provide preliminary evidence supporting the use of the gyroscope for gait event detection on inclines as well as level walking.<\/jats:p>","DOI":"10.3390\/s100605683","type":"journal-article","created":{"date-parts":[[2010,6,7]],"date-time":"2010-06-07T02:07:09Z","timestamp":1275876429000},"page":"5683-5702","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":131,"title":["Gait Event Detection on Level Ground and Incline Walking Using a Rate Gyroscope"],"prefix":"10.3390","volume":"10","author":[{"given":"Paola","family":"Catalfamo","sequence":"first","affiliation":[{"name":"Centre for Biomedical Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK"},{"name":"School of Engineering, Universidad Nacional de Entre R\u00edos, Argentina"}]},{"given":"Salim","family":"Ghoussayni","sequence":"additional","affiliation":[{"name":"Centre for Biomedical Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK"}]},{"given":"David","family":"Ewins","sequence":"additional","affiliation":[{"name":"Centre for Biomedical Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, Surrey, GU2 7XH, UK"}]}],"member":"1968","published-online":{"date-parts":[[2010,6,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"68","DOI":"10.1046\/j.1525-1403.2003.03008.x","article-title":"Feasibility of Using Peroneal Nerve Recordings for Deriving Stimulation Timing in a Foot Drop Correction System","volume":"6","author":"Hansen","year":"2003","journal-title":"Neuromodulation"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"502","DOI":"10.1016\/j.gaitpost.2005.12.017","article-title":"Gait Event Detection Using Linear Accelerometers or Angular Velocity Transducers in Able-Bodied and Spinal-Cord Injured Individuals","volume":"24","author":"Jasiewicz","year":"2006","journal-title":"Gait Posture"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1016\/S0021-9290(00)00014-2","article-title":"Algorithms to Determine Event Timing During Normal Walking Using Kinematic Data","volume":"33","author":"Hreljac","year":"2000","journal-title":"J. Biomech"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1119","DOI":"10.1016\/S0021-9290(99)00102-5","article-title":"Limb Locomotion-Speed Distribution Analysis as a New Method for Stance Phase Detection","volume":"32","author":"Peham","year":"1999","journal-title":"J. Biomech"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.gaitpost.2008.06.009","article-title":"Foot Contact Event Detection Using Kinematic Data in Cerebral Palsy Children and Normal Adults Gait","volume":"29","author":"Desailly","year":"2009","journal-title":"Gait Posture"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"266","DOI":"10.1016\/j.gaitpost.2003.10.001","article-title":"Assessment and Validation of a Simple Automated Method for the Detection of Gait Events and Intervals","volume":"20","author":"Ghoussayni","year":"2003","journal-title":"Gait Posture"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"2628","DOI":"10.1016\/j.jbiomech.2008.06.023","article-title":"Online Gait Event Detection Using a Large Force Platform Embedded in a Treadmill","volume":"41","author":"Roerdink","year":"2008","journal-title":"J. Biomech"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1016\/j.gaitpost.2007.01.003","article-title":"Concurrent Validity and Intrasession Reliability of the IDEEA Accelerometry System for the Quantification of Spatiotemporal Gait Parameters","volume":"27","author":"Maffiuletti","year":"2008","journal-title":"Gait Posture"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"486","DOI":"10.1109\/TBME.2004.840727","article-title":"Assessment of Walking Features from Foot Inertial Sensing","volume":"52","author":"Sabatini","year":"2005","journal-title":"IEEE Trans. Biomed. Eng"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1016\/j.gaitpost.2007.11.001","article-title":"Predicting Lower Limb Joint Kinematics Using Wearable Motion Sensors","volume":"28","author":"Findlow","year":"2008","journal-title":"Gait Posture"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2604","DOI":"10.1016\/j.jbiomech.2006.12.010","article-title":"An Inertial and Magnetic Sensor Based Technique for Joint Angle Measurement","volume":"40","author":"Kamnik","year":"2007","journal-title":"J. Biomech"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1185","DOI":"10.1016\/j.jbiomech.2004.05.026","article-title":"Performance of Orientation Sensor for Use With A Functional Electrical Stimulation Mobility System","volume":"38","author":"Simcox","year":"2005","journal-title":"J. Biomech"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"537","DOI":"10.1016\/S0021-9290(01)00231-7","article-title":"Accelerometer and Rate Gyroscope Measurement of Kinematics: An Inexpensive Alternative to Optical Motion Analysis Systems","volume":"35","author":"Mayagoitia","year":"2002","journal-title":"J. Biomech"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"63","DOI":"10.1109\/86.506403","article-title":"Application of Tilt Sensors in Functional Electrical Stimulation","volume":"4","author":"Dai","year":"1996","journal-title":"IEEE Trans. Rehabil. Eng"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1016\/S1350-4533(00)00038-2","article-title":"Sensor Systems for Lower Limb Functional Electrical Stimulation (FES) Control","volume":"22","author":"Williamson","year":"2000","journal-title":"Med. Eng. Phys"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"81","DOI":"10.1109\/TNSRE.2004.843176","article-title":"Automated Estimation of Initial and Terminal Contact Timing Using Accelerometers; Development and Validation in Transtibial Amputees and Controls","volume":"13","author":"Selles","year":"2005","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1016\/j.gaitpost.2009.07.128","article-title":"Real-Time Gait Event Detection Using Wearable Sensors","volume":"30","author":"Hanlon","year":"2009","journal-title":"Gait Posture"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"689","DOI":"10.1016\/S0021-9290(02)00008-8","article-title":"Spatio-Temporal Parameters of Gait Measured by an Ambulatory System Using Miniature Gyroscopes","volume":"35","author":"Aminian","year":"2002","journal-title":"J. Biomech"},{"key":"ref_19","unstructured":"Ghoussayni, S.N. (Application of Angular Rate Gyroscopes as Sensors In Electrical Orthoses for Foot Drop Correction, 2004). Application of Angular Rate Gyroscopes as Sensors In Electrical Orthoses for Foot Drop Correction, Available online: https:\/\/ethos.bl.uk (accessed on 14 March 2010)."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"753","DOI":"10.1109\/10.605434","article-title":"Long-Term Unrestrained Measurement of Stride Length and Walking Velocity Utilizing a Piezoelectric Gyroscope","volume":"44","author":"Miyazaki","year":"1997","journal-title":"IEEE. Trans. Biomed. Eng"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1016\/j.gaitpost.2003.07.005","article-title":"Ambulatory System for the Quantitative and Qualitative Analysis of Gait and Posture in Chronic Pain Patients Treated With Spinal Cord Stimulation","volume":"20","author":"Buchser","year":"2004","journal-title":"Gait Posture"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"8508","DOI":"10.3390\/s91108508","article-title":"Classifying Human Leg Motions with Uniaxial Piezoelectric Gyroscopes","volume":"9","author":"Tuncel","year":"2009","journal-title":"Sensors"},{"key":"ref_23","unstructured":"Moser, D., and Ewins, D. (2006). A Control System for a Lower Limb Prosthesis or Orthosis, Worldwide Patent 2006\/024876 A2,."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"458","DOI":"10.1016\/S1350-4533(98)00038-1","article-title":"Virtual Artificial Sensor Technique for Functional Electrical Stimulation","volume":"20","author":"Tong","year":"1998","journal-title":"Med. Eng. Phys"},{"key":"ref_25","unstructured":"Craik, R.L., and Oatis, C.A. (1995). Gait Analysis Theory and Application, Mosby."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1016\/S0966-6362(03)00093-6","article-title":"Evaluation of an Ambulatory System for Gait Analysis in Hip Osteoarthritis and after Total Hip Replacement","volume":"20","author":"Aminian","year":"2004","journal-title":"Gait Posture"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1434","DOI":"10.1109\/TBME.2004.827933","article-title":"Gait Assessment in Parkinson\u2019s Disease: Toward an Ambulatory System for Long-Term Monitoring","volume":"51","author":"Salarian","year":"2004","journal-title":"IEEE Trans. Biomed. Eng"},{"key":"ref_28","unstructured":"Ghoussayni, S.N., Henty, J.R., Wood, D.E., and Ewins, D.J. (2001, January September). An Experimental Evaluation of the Gyroscope as a Sensor in FES Foot-Drop Correction Systems. Vienna, Austria."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1621","DOI":"10.1016\/j.jbiomech.2005.05.005","article-title":"The Effects of Sloped Surfaces on Locomotion: A Kinematic And Kinetic Analysis","volume":"39","author":"Lay","year":"2006","journal-title":"J. Biomech"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1016\/j.gaitpost.2003.09.006","article-title":"Locomotor Adaptations for Changes in the Slope of the Walking Surface","volume":"20","author":"Prentice","year":"2004","journal-title":"Gait Posture"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/0268-0033(95)92043-L","article-title":"Kinematic and Kinetic Comparison of Downhill and Level Walking","volume":"10","author":"Kuster","year":"1995","journal-title":"Clin. Biomech"},{"key":"ref_32","unstructured":"Henty, J. (Detection of Gait Events Using a Gyroscope Sensor in FES Drop Foot Correction, 2003). Detection of Gait Events Using a Gyroscope Sensor in FES Drop Foot Correction, Available online: https:\/\/ethos.bl.uk. (accessed on 15 March 2010)."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/S1350-4533(99)00030-2","article-title":"A Practical Gait Analysis System Using Gyroscopes","volume":"21","author":"Tong","year":"1999","journal-title":"Med. Eng. Phys"},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0966-6362(98)00042-3","article-title":"Assesment of Rectus Femoris Function During Initial Swing Phase","volume":"9","author":"Nene","year":"1999","journal-title":"Gait Posture"},{"key":"ref_35","unstructured":"Ghoussayni, S.N. (2000). Use of the Angular Rate Gyroscope as a Sensor for FES Droop Foot Correction, University of Surrey. Master Thesis,."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"420","DOI":"10.1016\/j.gaitpost.2008.01.019","article-title":"Detection of Gait Events Using an F-Scan in-Shoe Pressure Measurement System","volume":"28","author":"Catalfamo","year":"2008","journal-title":"Gait Posture"},{"key":"ref_37","doi-asserted-by":"crossref","unstructured":"Taylor, J.K., and Cihon, C. (2004). Statistical Techniques for Data Analysis, Chapman and Hall. [2nd ed].","DOI":"10.1201\/9780203492390"},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/TNSRE.2002.1021583","article-title":"Evaluation of Force-Sensing Resistors for Gait Event Detection to Trigger Electrical Stimulation to Improve Walking in the Child with Cerebral Palsy","volume":"10","author":"Smith","year":"2002","journal-title":"IEEE Trans. Neural Syst. Reh. Eng"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1016\/S0966-6362(97)01117-X","article-title":"Biomechanics of Descending Ramps","volume":"6","author":"Redfern","year":"1997","journal-title":"Gait Posture"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.neucli.2008.02.002","article-title":"Effect of Speed on Kinematic, Kinetic, Electromyographic and Energetic Reference Values during Treadmill Walking","volume":"38","author":"Stoquart","year":"2008","journal-title":"Neurophysiol. Clin"},{"key":"ref_41","first-page":"199","article-title":"Joint Angle Parameters in Gait: Reference Data for Normal Subjects, 10\u201379 Years of Age","volume":"31","author":"Oberg","year":"1994","journal-title":"J. Rehabil. Res. Develop"},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"490","DOI":"10.1016\/S0924-980X(97)00055-6","article-title":"Gait Analysis During Treadmill and Overground Locomotion in Children and Adults","volume":"105","author":"Stolze","year":"1997","journal-title":"Electroencephalogr. Motor Control"},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"517","DOI":"10.1016\/0021-9290(83)90066-0","article-title":"Changes in Knee Function Associated with Treadmill Ambulation","volume":"16","author":"Strathy","year":"1983","journal-title":"J. Biomech"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"434","DOI":"10.1016\/S0268-0033(98)00012-6","article-title":"A Kinematic Comparison of Overground and Treadmill Walking","volume":"13","author":"Alton","year":"1998","journal-title":"Clin. Biomech"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1016\/j.gaitpost.2006.07.003","article-title":"A Kinematic and Kinetic Comparison of Overground and Treadmill Walking in Healthy Subjects","volume":"26","author":"Riley","year":"2007","journal-title":"Gait Posture"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1016\/j.clinbiomech.2008.07.002","article-title":"Kinematic, Kinetic and Metabolic Parameters of Treadmill versus Overground Walking in Healthy Older Adults","volume":"24","author":"Parvataneni","year":"2009","journal-title":"Clin. Biomech"},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"439","DOI":"10.1191\/026921599677086409","article-title":"Patients\u2019 Perception of the Odstock Dropped Foot Stimulator (ODFS)","volume":"13","author":"Taylor","year":"1999","journal-title":"Clin. Rehabil"},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"879","DOI":"10.1016\/S1350-4533(03)00116-4","article-title":"The Use of Accelerometry to Detect Heel Contact Events for Use as a Sensor in FES Assisted Walking","volume":"25","author":"Mansfield","year":"2003","journal-title":"Med. Eng. Phys"},{"key":"ref_49","unstructured":"Monaghan, C.C., Veltink, P.H., Bultstra, G., Droog, E., Kotiadis, D., and Van Riel, W. (, January September). Control of Triceps Surae Stimulation Based on Shank Orientation Using a Uniaxial Gyroscope. Bournemouth, UK."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1109\/7333.928571","article-title":"A Reliable Gait Phase Detection System","volume":"9","author":"Pappas","year":"2001","journal-title":"IEEE Trans. Neural Syst. Reh. Eng"},{"key":"ref_51","unstructured":"Ott, E., Munih, M., Benko, H., and Kralj, A. (1998, January September). Comparison of Foot Switch and Hand Switch Triggered FES Correction of Foot Drop. Vienna, Austria."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/10\/6\/5683\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T22:02:37Z","timestamp":1760220157000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/10\/6\/5683"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,6,4]]},"references-count":51,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2010,6]]}},"alternative-id":["s100605683"],"URL":"https:\/\/doi.org\/10.3390\/s100605683","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,6,4]]}}}