{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T15:29:48Z","timestamp":1771514988861,"version":"3.50.1"},"reference-count":29,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2015,12,23]],"date-time":"2015-12-23T00:00:00Z","timestamp":1450828800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject\u2019s foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration and signal processing procedures. Experimental validation was performed on 10 healthy subjects under three walking conditions: normal, fast and with obstacles. Foot clearance estimation results were compared to measurements from an optical motion capture system. The mean error between them is significantly less than                                        15               %                                  under the various walking conditions.<\/jats:p>","DOI":"10.3390\/s16010012","type":"journal-article","created":{"date-parts":[[2015,12,23]],"date-time":"2015-12-23T07:10:20Z","timestamp":1450854620000},"page":"12","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":57,"title":["Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data"],"prefix":"10.3390","volume":"16","author":[{"given":"Mourad","family":"Benoussaad","sequence":"first","affiliation":[{"name":"INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France"}]},{"given":"Beno\u00eet","family":"Sijobert","sequence":"additional","affiliation":[{"name":"INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France"}]},{"given":"Katja","family":"Mombaur","sequence":"additional","affiliation":[{"name":"ORB, IWR, University of Heidelberg, Heidelberg 69117, Germany"}]},{"given":"Christine","family":"Azevedo Coste","sequence":"additional","affiliation":[{"name":"INRIA, LIRMM, Rue Saint Priest, Montpellier 34000, France"}]}],"member":"1968","published-online":{"date-parts":[[2015,12,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"429","DOI":"10.1016\/j.gaitpost.2010.07.010","article-title":"A systematic review of the effect of ageing and falls history on minimum foot clearance characteristics during level walking","volume":"32","author":"Barrett","year":"2010","journal-title":"Gait Posture"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1102","DOI":"10.1016\/j.clinbiomech.2015.08.018","article-title":"Biomechanical gait characteristics of naturally occurring unsuccessful foot clearance during swing in individuals with chronic stroke","volume":"30","author":"Burpee","year":"2015","journal-title":"Clin. 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