Gait Phases Detection Using a 6 d.o.f. Ankle Joint Electro-Goniometer

This paper proposes a method for the determination of the kinematics of the human ankle joint using a 6 d.o.f. electro-goniometer. The mechanical design and the kinematic model of the device are presented. The authors performed the Instantaneous Helical Axis (IHA) measurement during walking experiment and proposed a kinematics descriptor for the identification of gait phases and sub-phases, based on the measure of the direction of the IHA and the magnitude of the rotational vector. First results reveal manifest potential and perspective of development of this method, as good repeatability is obtained for the measurement of the kinematics descriptor during different gait cycles.