{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T11:48:20Z","timestamp":1768823300538,"version":"3.49.0"},"reference-count":23,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2013,12,27]],"date-time":"2013-12-27T00:00:00Z","timestamp":1388102400000},"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>The present study was aimed at evaluating the Empirical Mode Decomposition (EMD) method to estimate the 3D orientation of the lower trunk during walking using the angular velocity signals generated by a wearable inertial measurement unit (IMU) and notably flawed by drift. The IMU was mounted on the lower trunk (L4-L5) with its active axes aligned with the relevant anatomical axes. The proposed method performs an offline analysis, but has the advantage of not requiring any parameter tuning. The method was validated in two groups of 15 subjects, one during overground walking, with 180\u00b0 turns, and the other during treadmill walking, both for steady-state and transient speeds, using stereophotogrammetric data. Comparative analysis of the results showed that the IMU\/EMD method is able to successfully detrend the integrated angular velocities and estimate lateral bending, flexion-extension as well as axial rotations of the lower trunk during walking with RMS errors of 1 deg for straight walking and lower than 2.5 deg for walking with turns.<\/jats:p>","DOI":"10.3390\/s140100370","type":"journal-article","created":{"date-parts":[[2013,12,27]],"date-time":"2013-12-27T12:54:46Z","timestamp":1388148886000},"page":"370-381","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Integration of Human Walking Gyroscopic Data Using Empirical Mode Decomposition"],"prefix":"10.3390","volume":"14","author":[{"given":"Vincent","family":"Bonnet","sequence":"first","affiliation":[{"name":"Movement to Health (M2H) Laboratory, EuroMov, University of Montpellier 1, Montpellier 34090, France"}]},{"given":"Sofiane","family":"Ramdani","sequence":"additional","affiliation":[{"name":"Movement to Health (M2H) Laboratory, EuroMov, University of Montpellier 1, Montpellier 34090, France"}]},{"given":"Christine","family":"Azevedo-Coste","sequence":"additional","affiliation":[{"name":"LIRMM, University of Montpellier 2, Montpellier 34090, France"},{"name":"INRIA, DEMAR-LIRMM, Montpellier 34090, France"}]},{"given":"Philippe","family":"Fraisse","sequence":"additional","affiliation":[{"name":"LIRMM, University of Montpellier 2, Montpellier 34090, France"}]},{"given":"Claudia","family":"Mazz\u00e0","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Sheffield, Sheffield S13JD, UK"},{"name":"Department of Movement, Human and Health Sciences, University of Rome \"Foro Italico\", Rome 00135, Italy"}]},{"given":"Aurelio","family":"Cappozzo","sequence":"additional","affiliation":[{"name":"Department of Movement, Human and Health Sciences, University of Rome \"Foro Italico\", Rome 00135, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2013,12,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1556","DOI":"10.3390\/s101211556","article-title":"The use of wearable inertial motion sensors in human lower limb biomechanics studies: A systematic review","volume":"10","author":"Fong","year":"2010","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"878","DOI":"10.1109\/TMECH.2011.2161324","article-title":"A Wearable sensor network for gait analysis: A six-day experiment of running through the desert","volume":"16","author":"Chelius","year":"2011","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"567","DOI":"10.1016\/S0096-3003(03)00656-8","article-title":"Low cost inertial orientation tracking with Kalman filter","volume":"153","author":"Haid","year":"2004","journal-title":"Appl. Math. Comput."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1385","DOI":"10.1109\/JSEN.2008.917488","article-title":"Estimating displacement of periodic motion with inertial sensors","volume":"8","author":"Tan","year":"2008","journal-title":"IEEE Sens. J."},{"key":"ref_5","first-page":"138","article-title":"An optimized Kalman filter for the estimate of trunk orientation from inertial sensors data during treadmill walking","volume":"35","author":"Donati","year":"2011","journal-title":"Gait Posture"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1186\/1743-0003-10-29","article-title":"Use of weighted Fourier linear combiner filters to estimate lower trunk 3D orientation from gyroscope sensors data","volume":"10","author":"Bonnet","year":"2013","journal-title":"J. NeuroEng. Rehabil."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"903","DOI":"10.1098\/rspa.1998.0193","article-title":"The empirical mode decomposition and Hilbert spectrum for nonlinear and non-stationary time series analysis","volume":"454","author":"Huang","year":"1998","journal-title":"Proc. R. Soc. Lond. A"},{"key":"ref_8","unstructured":"Flandrin, P., Goncalv\u00e8s, P., and Rilling, G. (2004, January 6\u201310). Detrending and Denoising with Empirical Mode Decomposition. Vienna, Austria."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Rilling, G., Flandrin, P., and Goncalv\u00e8s, P. (2003, January 8\u201311). On Empirical Mode Decomposition and Its Algorithms. Grado, Italy.","DOI":"10.1109\/LSP.2003.821662"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1016\/j.measurement.2009.01.017","article-title":"A novel hybrid EMD-based drift denoising method for a dynamically tuned gyroscope (DTG)","volume":"42","author":"Qian","year":"2009","journal-title":"Measurement"},{"key":"ref_11","unstructured":"Zhang, Y., Wang, S., and Xia, D. (2010, January 20\u201323). EMD-Based Denoising Methods in the MEMS Gyroscope De-Drift. Xiamen, China."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"68","DOI":"10.1016\/j.gaitpost.2009.08.247","article-title":"Control of the upper body movements during level walking in patients with facio scapula humeral dystrophy","volume":"31","author":"Iosa","year":"2010","journal-title":"Gait Posture"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"386","DOI":"10.1016\/j.gaitpost.2006.10.001","article-title":"Reliability of the intrinsic and extrinsic patterns of level walking in older women","volume":"26","author":"Pecoraro","year":"2007","journal-title":"Gait Posture"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1016\/j.gaitpost.2004.09.009","article-title":"Trunk sway measurements during stance and gait tasks in Parkinson's disease","volume":"22","author":"Adkin","year":"2005","journal-title":"Gait Posture"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.gaitpost.2009.02.017","article-title":"Analysis of stroke patient walking dynamics using a tri-axial accelerometer","volume":"30","author":"Mizuike","year":"2009","journal-title":"Gait Posture"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"523","DOI":"10.1016\/j.gaitpost.2013.01.031","article-title":"Estimate of lower trunk angles in pathological gait using gyroscope data","volume":"38","author":"Grimpampi","year":"2013","journal-title":"Gait Posture"},{"key":"ref_17","unstructured":"Empirical Mode Decomposition. Available online: http:\/\/perso.ens-lyon.fr\/patrick.flandrin\/emd.html."},{"key":"ref_18","unstructured":"Luinge, H. (2002). Inertial Sensing of Human Movement. [Ph.D. Thesis, Twente University Press]."},{"key":"ref_19","unstructured":"Rilling, G., and Flandrin, P. (2006, January 14\u201319). On the Influence of Sampling on the Empirical Mode Decomposition. Toulouse, France."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"341","DOI":"10.1097\/00001199-200407000-00008","article-title":"Ecological validity of walking speed assessment after traumatic brain injury: A pilot study","volume":"19","author":"Moseley","year":"2004","journal-title":"J. Head Trauma Rehabil."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"839","DOI":"10.1109\/10.686791","article-title":"Adaptive cancelling of physiological tremor for improved precision in microsurgery","volume":"45","author":"Riviere","year":"1998","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_22","unstructured":"Trnka, P., and Hofreiter, M. (2011, January 14\u201317). The Empirical Mode Decomposition in Real-Time. Tatransk\u00e1 Lomnica, Slovakia."},{"key":"ref_23","unstructured":"Guzm\u00e1n, S.A., Fischer, M., Heute, U., and Schmidt, G. (2013, January 9\u201313). Real-Time Empirical Mode Decomposition for EEG Signal Enhancement. Marrakesh, Morocco."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/1\/370\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:51:39Z","timestamp":1760219499000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/1\/370"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,12,27]]},"references-count":23,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2014,1]]}},"alternative-id":["s140100370"],"URL":"https:\/\/doi.org\/10.3390\/s140100370","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,12,27]]}}}