{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T17:24:14Z","timestamp":1778693054972,"version":"3.51.4"},"reference-count":54,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2020,5,25]],"date-time":"2020-05-25T00:00:00Z","timestamp":1590364800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR 16-LCV2-0002-01"],"award-info":[{"award-number":["ANR 16-LCV2-0002-01"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003032","name":"Association Nationale de la Recherche et de la Technologie","doi-asserted-by":"publisher","award":["CIFRE n\u00b02017\/0267"],"award-info":[{"award-number":["CIFRE n\u00b02017\/0267"]}],"id":[{"id":"10.13039\/501100003032","id-type":"DOI","asserted-by":"publisher"}]},{"name":"R\u00e9gion Nouvelle Aquitaine","award":["contract for support of innovative projects n\u00b018002380"],"award-info":[{"award-number":["contract for support of innovative projects n\u00b018002380"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The development of on-board sensors, such as inertial measurement units (IMU), has made it possible to develop new methods for analyzing horse locomotion to detect lameness. The detection of spatiotemporal events is one of the keystones in the analysis of horse locomotion. This study assesses the performance of four methods for detecting Foot on and Foot off events. They were developed from an IMU positioned on the canon bone of eight horses during trotting recording on a treadmill and compared to a standard gold method based on motion capture. These methods are based on accelerometer and gyroscope data and use either thresholding or wavelets to detect stride events. The two methods developed from gyroscopic data showed more precision than those developed from accelerometric data with a bias less than 0.6% of stride duration for Foot on and 0.1% of stride duration for Foot off. The gyroscope is less impacted by the different patterns of strides, specific to each horse. To conclude, methods using the gyroscope present the potential of further developments to investigate the effects of different gait paces and ground types in the analysis of horse locomotion.<\/jats:p>","DOI":"10.3390\/s20102983","type":"journal-article","created":{"date-parts":[[2020,5,25]],"date-time":"2020-05-25T11:42:02Z","timestamp":1590406922000},"page":"2983","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Comparison of Trotting Stance Detection Methods from an Inertial Measurement Unit Mounted on the Horse\u2019s Limb"],"prefix":"10.3390","volume":"20","author":[{"given":"Marie","family":"Sapone","sequence":"first","affiliation":[{"name":"Universit\u00e9 de Technologie de Compi\u00e8gne, Alliance Sorbonne Universit\u00e9, UMR CNRS 7338 BioM\u00e9canique et BioIng\u00e9nierie, 60200 Compi\u00e8gne, France"},{"name":"Ecole Nationale V\u00e9t\u00e9rinaire d\u2019Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France"},{"name":"LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France"}]},{"given":"Pauline","family":"Martin","sequence":"additional","affiliation":[{"name":"Ecole Nationale V\u00e9t\u00e9rinaire d\u2019Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France"},{"name":"LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7494-8107","authenticated-orcid":false,"given":"Khalil","family":"Ben Mansour","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Technologie de Compi\u00e8gne, Alliance Sorbonne Universit\u00e9, UMR CNRS 7338 BioM\u00e9canique et BioIng\u00e9nierie, 60200 Compi\u00e8gne, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1977-1521","authenticated-orcid":false,"given":"Henry","family":"Ch\u00e2teau","sequence":"additional","affiliation":[{"name":"Ecole Nationale V\u00e9t\u00e9rinaire d\u2019Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0440-4849","authenticated-orcid":false,"given":"Fr\u00e9d\u00e9ric","family":"Marin","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Technologie de Compi\u00e8gne, Alliance Sorbonne Universit\u00e9, UMR CNRS 7338 BioM\u00e9canique et BioIng\u00e9nierie, 60200 Compi\u00e8gne, France"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1053\/tvjl.1998.0297","article-title":"Methods, Applications and Limitations of Gait Analysis in Horses","volume":"157","author":"Barrey","year":"1999","journal-title":"Vet. J."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1038\/421035a","article-title":"Biomechanics: A catapult action for rapid limb protraction","volume":"421","author":"Wilson","year":"2003","journal-title":"Nature"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1016\/0021-9290(83)90107-0","article-title":"Bone stress in the horse forelimb during locomotion at different gaits: A comparison of two experimental methods","volume":"16","author":"Biewener","year":"1983","journal-title":"J. Biomech."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1111\/evj.12160","article-title":"Comparative kinematic analysis of the leading and trailing forelimbs of horses cantering on a turf and a synthetic surface: Forelimb kinematics at the canter on turf and synthetic surfaces","volume":"45","author":"Falala","year":"2013","journal-title":"Equine Vet. J."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1111\/j.2042-3306.2006.tb05578.x","article-title":"Association of type of sport and performance level with anatomical site of orthopaedic injury diagnosis","volume":"38","author":"Murray","year":"2006","journal-title":"Equine Vet. J."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"410","DOI":"10.2746\/042516401776249570","article-title":"Joint moments in the distal forelimbs of jumping horses during landing","volume":"33","author":"Meershoek","year":"2010","journal-title":"Equine Vet. J."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.tvjl.2006.11.009","article-title":"Injuries in the event horse: Training versus competition","volume":"175","author":"Singer","year":"2008","journal-title":"Vet. J."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1111\/j.2042-3306.1996.tb01592.x","article-title":"Head and trunk movement adaptations in horses with experimentally induced fore-or hindlimb lameness","volume":"28","author":"Buchner","year":"1996","journal-title":"Equine Vet. J."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"1031","DOI":"10.2460\/ajvr.2000.61.1031","article-title":"Kinematics of the hind limb in trotting horses after induced lameness of the distal intertarsal and tarsometatarsal joints and intra-articular administration of anesthetic","volume":"61","author":"Kramer","year":"2000","journal-title":"Am. J. Vet. Res."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"446","DOI":"10.2746\/042516401776254781","article-title":"Signal decomposition method of evaluating head movement to measure induced forelimb lameness in horses trotting on a treadmill","volume":"33","author":"Keegan","year":"2001","journal-title":"Equine Vet. J."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Nguyen, M.D., Mun, K.R., Jung, D., Han, J., Park, M., Kim, J., and Kim, J. (2020, January 4\u20136). IMU-based Spectrogram Approach with Deep Convolutional Neural Networks for Gait Classification. Proceedings of the 2020 IEEE International Conference on Consumer Electronics (ICCE), Las Vegas, NV, USA.","DOI":"10.1109\/ICCE46568.2020.9042999"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Sahoo, S., Saboo, M., Pratihar, D.K., and Mukhopadhyay, S. (2020). Real-Time Detection of Actual and Early Gait Events During Level-Ground and Ramp Walking. IEEE Sens. J.","DOI":"10.1109\/JSEN.2020.2980863"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Tumkur, K., and Subbiah, S. (2012, January 25\u201327). Modeling Human Walking for Step Detection and Stride Determination by 3-Axis Accelerometer Readings in Pedometer. Proceedings of the 2012 Fourth International Conference on Computational Intelligence, Modelling and Simulation, Kuantan, Malaysia.","DOI":"10.1109\/CIMSim.2012.65"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"2555","DOI":"10.1109\/JSEN.2017.2786587","article-title":"Optimal Foot Location for Placing Wearable IMU Sensors and Automatic Feature Extraction for Gait Analysis","volume":"18","author":"Anwary","year":"2018","journal-title":"IEEE Sens. J."},{"key":"ref_15","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_16","doi-asserted-by":"crossref","unstructured":"Doheny, E.P., Foran, T.G., and Greene, B.R. (September, January 31). A single gyroscope method for spatial gait analysis. Proceedings of the 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, Buenos Aires, Argentina.","DOI":"10.1109\/IEMBS.2010.5626397"},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Caramia, C., De Marchis, C., and Schmid, M. (2019). Optimizing the Scale of a Wavelet-Based Method for the Detection of Gait Events from a Waist-Mounted Accelerometer under Different Walking Speeds. Sensors, 19.","DOI":"10.3390\/s19081869"},{"key":"ref_18","first-page":"S1","article-title":"Sizing of inertial sensors adapted to measurement of locomotor parameters in horses using motion capture. 44th Congress of the Soci\u00e9t\u00e9 de Biom\u00e9canique, Poitiers, France, 2019 October","volume":"22","author":"Sapone","year":"2019","journal-title":"Comput. Methods Biomech. Biomed. Eng."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1111\/j.2042-3306.1980.tb02310.x","article-title":"Equine locomotion: 1. The analysis of linear and temporal stride characteristics of trotting Standardbreds","volume":"12","author":"Drevemo","year":"1980","journal-title":"Equine Vet. J."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"8145","DOI":"10.3390\/s120608145","article-title":"Accuracy and Precision of Equine Gait Event Detection during Walking with Limb and Trunk Mounted Inertial Sensors","volume":"12","author":"Olsen","year":"2012","journal-title":"Sensors"},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"287","DOI":"10.2746\/042516400777032237","article-title":"The forelimb in walking horses: 1. Kinematics and ground reaction forces","volume":"32","author":"Hodson","year":"2000","journal-title":"Equine Vet. J."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1111\/j.2042-3306.1994.tb04877.x","article-title":"Relationships between ground reaction force patterns and kinematics in the walking and trotting horse","volume":"26","author":"Merkens","year":"1994","journal-title":"Equine Vet. J."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"3639","DOI":"10.1242\/jeb.01182","article-title":"Determination of peak vertical ground reaction force from duty factor in the horse (Equus caballus)","volume":"207","author":"Witte","year":"2004","journal-title":"J. Exp. Biol."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1220","DOI":"10.1016\/j.jbiomech.2013.12.018","article-title":"Accuracy and precision of gait events derived from motion capture in horses during walk and trot","volume":"47","author":"Boye","year":"2014","journal-title":"J. Biomech."},{"key":"ref_25","first-page":"65","article-title":"Assessment of a method to determine the stride phases in trotting horses from video sequences under field conditions","volume":"97","author":"Galisteo","year":"2010","journal-title":"Wien. Tierarztl. Mon."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"e783","DOI":"10.7717\/peerj.783","article-title":"A universal approach to determine footfall timings from kinematics of a single foot marker in hoofed animals","volume":"3","author":"Starke","year":"2015","journal-title":"PeerJ"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Bosch, S., Serra Bragan\u00e7a, F., Marin-Perianu, M., Marin-Perianu, R., van der Zwaag, B., Voskamp, J., Back, W., van Weeren, R., and Havinga, P. (2018). EquiMoves: A Wireless Networked Inertial Measurement System for Objective Examination of Horse Gait. Sensors, 18.","DOI":"10.3390\/s18030850"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"498","DOI":"10.1016\/j.tvjl.2013.09.005","article-title":"Estimation of vertical tuber coxae movement in the horse from a single inertial measurement unit","volume":"198","author":"Pfau","year":"2013","journal-title":"Vet. J."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1160","DOI":"10.2460\/ajvr.73.8.1160","article-title":"Validation of an equine inertial measurement unit system in clinically normal horses during walking and trotting","volume":"73","author":"Moorman","year":"2012","journal-title":"Am. J. Vet. Res."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1011","DOI":"10.2460\/ajvr.78.9.1011","article-title":"Repeatability of gait pattern variables measured by use of extremity-mounted inertial measurement units in nonlame horses during trotting","volume":"78","author":"Cruz","year":"2017","journal-title":"Am. J. Vet. Res."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"545","DOI":"10.1111\/evj.12651","article-title":"Validation of distal limb mounted inertial measurement unit sensors for stride detection in Warmblood horses at walk and trot","volume":"49","author":"Bosch","year":"2017","journal-title":"Equine Vet. J."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"312","DOI":"10.2746\/042516400777032246","article-title":"The effects of treadmill inclination and speed on the activity of two hindlimb muscles in the trotting horse","volume":"32","author":"Robert","year":"2000","journal-title":"Equine Vet. J."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"295","DOI":"10.1111\/j.2042-3306.2002.tb05436.x","article-title":"Effects of trotting speed on muscle activity and kinematics in saddlehorses","volume":"34","author":"Robert","year":"2002","journal-title":"Equine Vet. J."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"674","DOI":"10.1109\/34.192463","article-title":"A Theory for Multiresolution Signal Decomposition: The Wavelet Representation","volume":"11","author":"Mallat","year":"1989","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1111\/j.1365-2869.1994.tb00135.x","article-title":"Wavelets\u2014A new tool in sleep biosignal analysis","volume":"3","author":"Jobert","year":"1994","journal-title":"J. Sleep Res."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"108576","DOI":"10.1016\/j.jneumeth.2019.108576","article-title":"Automatic detection and quantification of hand movements toward development of an objective assessment of tremor and bradykinesia in Parkinson\u2019s disease","volume":"333","author":"Pang","year":"2020","journal-title":"J. Neurosci. Methods"},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"571","DOI":"10.1080\/10543400701329422","article-title":"Agreement between Methods of Measurement with Multiple Observations Per Individual","volume":"17","author":"Bland","year":"2007","journal-title":"J. Biopharm. Stat."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.medengphy.2018.03.002","article-title":"Simple and efficient thermal calibration for MEMS gyroscopes","volume":"55","author":"Nez","year":"2018","journal-title":"Med. Eng. Phys."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"172","DOI":"10.1016\/j.jbiomech.2017.11.028","article-title":"Evaluation of the kinetic energy of the torso by magneto-inertial measurement unit during the sit-to-stand movement","volume":"67","author":"Lepetit","year":"2018","journal-title":"J. Biomech."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1016\/S1566-0702(01)00284-3","article-title":"Wavelet decomposition analysis of heart rate variability in aerobic athletes","volume":"90","author":"Verlinde","year":"2001","journal-title":"Auton. Neurosci."},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"1990","DOI":"10.1177\/1071181311551415","article-title":"An approach for identifying gait events using wavelet denoising technique and single wireless IMU","volume":"55","author":"Soangra","year":"2011","journal-title":"Proc. Hum. Factors Ergon. Soc. Annu. Meet."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"4901017","DOI":"10.1155\/2017\/4901017","article-title":"R Peak Detection Method Using Wavelet Transform and Modified Shannon Energy Envelope","volume":"2017","author":"Park","year":"2017","journal-title":"J. Healthc. Eng."},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Benson, L., Clermont, C., Watari, R., Exley, T., and Ferber, R. (2019). Automated Accelerometer-Based Gait Event Detection during Multiple Running Conditions. Sensors, 19.","DOI":"10.3390\/s19071483"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"226","DOI":"10.1016\/j.medengphy.2015.01.001","article-title":"Development and validation of an accelerometer-based method for quantifying gait events","volume":"37","author":"Boutaayamou","year":"2015","journal-title":"Med. Eng. Phys."},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.gaitpost.2006.05.016","article-title":"Automatic detection of gait events using kinematic data","volume":"25","author":"Thorpe","year":"2007","journal-title":"Gait Posture"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"e27","DOI":"10.1016\/j.tvjl.2013.09.029","article-title":"Hoof accelerations at hoof-surface impact for stride types and functional limb types relevant to show jumping horses","volume":"198","author":"Hernlund","year":"2013","journal-title":"Vet. J."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"645","DOI":"10.1016\/j.jbiomech.2005.01.027","article-title":"Soft tissue vibrations within one soft tissue compartment","volume":"39","author":"Boyer","year":"2006","journal-title":"J. Biomech."},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.gaitpost.2018.08.025","article-title":"Analysis of the performance of 17 algorithms from a systematic review: Influence of sensor position, analysed variable and computational approach in gait timing estimation from IMU measurements","volume":"66","author":"Bisi","year":"2018","journal-title":"Gait Posture"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1111\/j.2042-3306.1995.tb03029.x","article-title":"How the horse moves: 1. Significance of graphical representations of equine forelimb kinematics","volume":"27","author":"Back","year":"1995","journal-title":"Equine Vet. J."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"86","DOI":"10.1111\/j.2042-3306.1990.tb04742.x","article-title":"The effect of an acute hoof wall angulation on the stride kinematics of trotting horses","volume":"22","author":"Clayton","year":"1990","journal-title":"Equine Vet. J."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1053\/rvsc.2001.0504","article-title":"Kinematic characteristics of Andalusian, Arabian and Anglo-Arabian horses: A comparative study","volume":"71","author":"Cano","year":"2001","journal-title":"Res. Vet. Sci."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"164","DOI":"10.2746\/042516406776563260","article-title":"Three-dimensional kinematics of the distal forelimb in horses trotting on a treadmill and effects of elevation of heel and toe","volume":"38","author":"Chateau","year":"2010","journal-title":"Equine Vet. J."},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1080\/01652176.1994.9694509","article-title":"Kinematics of treadmill versus overground locomotion in horses","volume":"16","author":"Buchner","year":"1994","journal-title":"Vet. Q."},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Rezvanian, S., and Lockhart, T. (2016). Towards Real-Time Detection of Freezing of Gait Using Wavelet Transform on Wireless Accelerometer Data. Sensors, 16.","DOI":"10.3390\/s16040475"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/10\/2983\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:32:07Z","timestamp":1760175127000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/10\/2983"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,5,25]]},"references-count":54,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2020,5]]}},"alternative-id":["s20102983"],"URL":"https:\/\/doi.org\/10.3390\/s20102983","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,5,25]]}}}