{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T20:46:43Z","timestamp":1770842803224,"version":"3.50.1"},"reference-count":31,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2014,10,10]],"date-time":"2014-10-10T00:00:00Z","timestamp":1412899200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["287894"],"award-info":[{"award-number":["287894"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004329","name":"Slovenian Research Agency","doi-asserted-by":"publisher","award":["P20228"],"award-info":[{"award-number":["P20228"]}],"id":[{"id":"10.13039\/501100004329","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001711","name":"Swiss National Science Foundation","doi-asserted-by":"publisher","award":["National Centre of Competence in Research Robotics"],"award-info":[{"award-number":["National Centre of Competence in Research Robotics"]}],"id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Previous studies have presented algorithms for detection of turns during gait using wearable sensors, but those algorithms were not built for real-time use. This paper therefore investigates the optimal approach for real-time detection of planned turns during gait using wearable inertial measurement units. Several different sensor positions (head, back and legs) and three different detection criteria (orientation, angular velocity and both) are compared with regard to their ability to correctly detect turn onset. Furthermore, the different sensor positions are compared with regard to their ability to predict the turn direction and amplitude. The evaluation was performed on ten healthy subjects who performed left\/right turns at three amplitudes (22, 45 and 90 degrees). Results showed that turn onset can be most accurately detected with sensors on the back and using a combination of orientation and angular velocity. The same setup also gives the best prediction of turn direction and amplitude. Preliminary measurements with a single amputee were also performed and highlighted important differences such as slower turning that need to be taken into account.<\/jats:p>","DOI":"10.3390\/s141018800","type":"journal-article","created":{"date-parts":[[2014,10,10]],"date-time":"2014-10-10T10:24:07Z","timestamp":1412936647000},"page":"18800-18822","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":57,"title":["Toward Real-Time Automated Detection of Turns during Gait Using Wearable Inertial Measurement Units"],"prefix":"10.3390","volume":"14","author":[{"given":"Domen","family":"Novak","sequence":"first","affiliation":[{"name":"Sensory-Motor Systems Lab, ETH Zurich, Tannenstrasse 1, CH-8092 Zurich, Switzerland"},{"name":"Laboratory of Robotics, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maja","family":"Gor\u0161i\u010d","sequence":"additional","affiliation":[{"name":"Laboratory of Robotics, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Janez","family":"Podobnik","sequence":"additional","affiliation":[{"name":"Laboratory of Robotics, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marko","family":"Munih","sequence":"additional","affiliation":[{"name":"Laboratory of Robotics, University of Ljubljana, Tr\u017ea\u0161ka cesta 25, SI-1000 Ljubljana, Slovenia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2014,10,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"542","DOI":"10.1109\/TBME.2009.2034734","article-title":"Multiclass real-time intent recognition of a powered lower limb prosthesis","volume":"57","author":"Varol","year":"2010","journal-title":"IEEE Trans. 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