Land and Underwater Gait Analysis Using Wearable IMU

Walking underwater reduces joint impacts, enhances stability and lowers the net body weight of the patient during rehabilitation. It is a recent rehabilitation method and few suitable methods exist to study underwater gait kinematics. We propose an underwater inertial measurement (IMU) system analogous to those used in land-based rehabilitation to investigate gait kinematics. The objective of this study was to test and validate the proposed system in two human trials by evaluating the knee angle during the gait. In the first trial, a three-way performance analysiswas carried out between the IMU, optoelectronic and motion-capture systems in a traditional rehabilitation setting on land. In the second trial, the proposed underwater IMU is compared with camera-basedmotion-capture both inside and outside the water environment, using the same subjects in both phases of the trial. This allows for an evaluationof thewalking gait in air and underwater aswell as a cross-comparison of IMU-based knee angle estimates before and after Gaussian Process Regression. The major finding of this work is that the proposed underwater wearable IMU system provides reliable and repeatable measurements of the knee angle during the gait, both in air and underwater.