SUMMER INTERNSHIP

A report of internship undergone at

GAIT ANALYSIS LABORATORY, College of

Engineering Guindy, Chennai -25.

Submitted by

JAIMANI R S-2021116011

in partial fulfilment for the award of the degree of

BACHELOR OF ENGINEERING IN
BIOMEDICAL ENGINEERING

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
ANNA UNIVERSITY, CHENNAI

JULY 2023

i
CERTIFICATE COPY

ii
 ACKNOWLEDGEMENT

I owe my sincere gratitude to Dr. M. MEENAKSHI, Professor and Head

Department of Electronics and Communication Engineering, Dr. M. SASIKALA,
Professor in-charge and Director Centre for Medical Electronics, Department of
Electronics and Communication Engineering, Dr. S. POONGUZHALI, Professor
incharge, Gait Analysis Laboratory and all Professors who provided me with the
opportunity to get trained in Gait Analysis Laboratory- Centre for Medical
Electronics, Anna University, Chennai – 25.

My special thanks to Dr. P ANISHYA, Summer Internship Training

Coordinator and Faculty In-charge, Department of Electronics and Communication
Engineering for taking the responsibility of making all the arrangements which helped
me to complete my summer internship training successfully.

This training wouldn‟t have been successful without the continuous effort and
guidance of Dr. S. POONGUZHALI, Professor Incharge, Gait Analysis
Laboratory and Mrs. Chitra M Das who considered me as a member of their team
and oriented me as well as guided me in practically realizing the work of a Biomedical
Engineer.

Finally, I would like to thank all the other people in the department and my
colleagues who helped me and made it a worthwhile experience in my career.

Jaimani R S
2021116011

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 TABLE OF CONTENTS

CHAPTER TITLE PAGE

NO NO
List of tables
List of Figures
1 Introduction 1

1.1 Gait analysis 1

1.2 Phases of Gait Cycle 2

1.2.1 Stance phase 2

1.2.2 Swing phase 3

1.3 Gait Parameters 4

1.3.1 Kinematic parameters 4

1.3.2 Kinetic parameters 5

1.3.3 Spatio-temporal parameters 6

1.4 Anatomical planes in Gait 8

1.4.1 Sagittal plane 8

1.4.2 Frontal plane 9

1.4.3 Transverse plane 9

2 Devices learnt in the Laboratory 11

2.1 XSENS 11

2.1.1 Working 11

2.1.2 Features 12

2.1.3 Applications 13

2.2 EMG With Data Logger 16

2.2.1 EMG acquiring process 17

2.2.2 Visual analysis of acquired EMG Signal 19

2.2.3 Applications 20

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CHAPTER TITLE PAGE
NO NO
2.3 Exoskeleton 21

2.3.1 Working principle 22

2.3.2 Applications 24

2.4 DELSYS 26

2.4.1 Features 37

2.4.2 Applications 29

2.4.3 Visual analysis of acquired DELSYS signal 30

2.5 MPU9250 32

2.5.1 Key components 32

2.5.2 Application 33

2.6 ESP32 35

2.6.1 Key features of ESP32 35

2.6.2 Applications 36

2.7 Signal processing of EMG 38

3 Field visit 40

3.1 CSIR 40

3.1.1 Shoe and Product Design Centre (SPDC) 40

3.1.2 P - walk 41

3.1.2.1 Applications 41

3.1.3 Zebris 42

3.2 Museum of Possibilities 44

4 4.1 Assignment 1 46

4.2 Assignment 2 50

4.2.1 Forward walk EMG data 50

4.2.2 Backward walk EMG data 57

4.2.3 Forward walk IMU data 64

4.2.4 Backward walk IMU data 69

CHAPTER NO TITLE PAGE NO

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 4.3 Assignment 3 75

4.3.1 Flexiforce sensor interface with ESP32 75

4.3.2 Soldering 76

4.3.2.1 Materials and equipment 77

4.3.2.2 Soldering steps 77

4.3.3 RF Transmission 78

4.3.3.1 Key Components 78

4.3.3.2 Applications 78

4.3.4 ESP32 with RF Transmitter and Receiver 79

4.3.4.1 Parts required 80

4.3.4.2 Circuit connection 80

4.3.4.3 Code for transmitter ESP32 80

4.3.4.4 Code for receiver ESP32 81

5 Conclusion 84

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 LIST OF FIGURES

FIGURE TITLE PAGE

NO NO

1 1.1 Gait 1

1.2 Phases of Gait cycle 2

1.3 Ground Reaction Forces 5

2 2.1 XSENS 11

2.2 XSENS Graph 12

2.3 EMG electrodes and data logger 16

2.4 EMG Block diagram 17

2.5 EMG electrodes and data logger placement 18

2.6 Visual analysis of EMG Data 19

2.7 Exoskeleton 21

2.8 Knee Exoskeleton 24

2.9 DELSYS System 26

2.10 Trignodiscover software 27

2.11 Acquired DELSYS measurement 31

2.12 MPU9250 32

2.13 ESP32 35

2.14 MPU9250 41

2.13 ESP32 42

3 3.1 P-Walk 44

3.2 Zebris 45

3.3 Museum of possibilities 47

3.4 Innovative devices and materials in the museum 48

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FIGURE TITLE PAGE
NO NO
4.1 EMG signal of Tibialis Anterior 51

4.2 Filtered EMG Signal of Tibialis anterior 52

4.3 EMG signal of Gastrocnemius Medialis 53

4.4 Filtered EMG Signal of Gastrocnemius Medialis 55

4.5 FFT Filtered EMG of Tibialis anterior 55

4.6 FFT Filtered EMG of Gastrocnemius Medialis 56

4.7 EMG signal of Tibialis Anterior 57

4.8 Filtered EMG Signal of Tibialis anterior 59

4.9 EMG signal of Gastrocnemius Medialis 60

4.10 Filtered EMG Signal of Gastrocnemius Medialis 61

4.11 FFT Filtered EMG of Tibialis anterior 62

4.12 FFT Filtered EMG of Gastrocnemius Medialis 63

4.13 Pitch of Gastrocnemius Medialis 65

4.14 Filtered Pitch of Tibialis anterior 66

4.15 Filtered Pitch of Gastrocnemius Medialis 68

4.16 Knee angle 69

4.17 Pitch of Tibialis anterior 70

4.18 Pitch of Gastrocnemius Medialis 71

4.19 Pitch of Tibialis anterior 72

4.20 Filtered Pitch of Gastrocnemius Medialis 74

4.21 Knee angle 74

4.22 Receiver and Transmitter 80

4.23 Circuit connection 80

4.24 Signal transmission 83

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 LIST OF TABLES

TABLE TITLE PAGE

NO NO

1 2.1 Visual analysis of EMG Data 31

s

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 CHAPTER 1

INTRODUCTION

1.1 GAIT ANALYSIS

Gait refers to the manner or style of walking or moving on foot. It

encompasses various aspects of a person's walking pattern, including stride
length, step width, rhythm, and posture as depicted in the Figure 1.1. Gait
analysis is a method used in biomechanics and healthcare to assess and evaluate
the way a person walks. It is important in diagnosing and treating conditions
related to mobility and musculoskeletal disorders.

Gait analysis is a systematic assessment of the way an individual walks or

moves on foot. It involves the observation, measurement, and evaluation of
various aspects of a person's gait pattern. This analysis is conducted to
understand and diagnose any abnormalities or inefficiencies in a person's
walking pattern. It's an important tool in healthcare, particularly in fields like
orthopedics, sports medicine, neurology, and rehabilitation.

Figure 1.1 Gait

Gait analysis can be conducted through visual observation, but it is often

supplemented with technological tools like motion capture systems, pressure-
sensitive mats, and force plates. These tools provide objective data about a

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person's gait, which can be used to inform treatment plans for conditions such as
arthritis, neurological disorders, sports injuries, and orthopedic issues.

1.2 PHASES OF GAIT CYCLE

The gait cycle is the sequence of events that occur from the initial contact of
one foot with the ground to the subsequent contact of the same foot as shown in
the Figure 1.2. It is typically divided into two main phases: the stance phase and
the swing phase. Each of these phases can be further subdivided for more
detailed analysis:

Figure 1.2 Phases of gait cycle

1.2.1 Stance Phase:

i. Initial Contact (IC): This is the moment when the foot makes initial
contact with the ground. It marks the beginning of the stance phase.

ii. Loading Response (LR): After initial contact, the foot absorbs the

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 weight of the body, and the limb progresses into mid-stance.

iii. Midstance (MS): This phase occurs when the body is directly over
the supporting foot. It's characterized by the leg acting as a rigid lever
and supporting the body's weight.

iv. Terminal Stance (TS): This is the phase just before the heel leaves
the ground, marking the transition to the swing phase.

v. Pre-Swing (PS): In this phase, the heel rises, and the foot prepares to
swing forward.

1.2.2 Swing Phase:

i. Initial Swing (IS): This begins with the lift-off of the toe and
continues until the knee reaches its maximum flexion angle.

ii. Mid-Swing (MSw): The knee continues to flex, and the limb
advances in preparation for the upcoming heel strike.

iii. Terminal Swing (TSw): The limb is rapidly advancing toward the
ground in preparation for the next initial contact.

The combined stance and swing phases make up one complete gait cycle. It's
important to note that while one limb is in the stance phase, the other limb is in
the swing phase, creating a continuous and coordinated motion during walking.

These phases are critical for understanding and analyzing gait patterns.
Changes or abnormalities in any of these phases can provide valuable
information about the underlying biomechanical or neurological issues that may
be affecting an individual's walking pattern.

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1.3 GAIT PARAMETERS

Gait parameters are specific measurements and characteristics used to assess

and describe a person's walking pattern. These parameters are essential in gait
analysis, which is the systematic evaluation of how an individual walks. Here
are some of the key gait parameters:

1. Kinematic parameters

2. Kinetic parameters

3. Spatio-temporal parameters

1.3.1 Kinematic parameters:

Kinematic gait parameters refer to the measurements and analyses of the

movement patterns of the body during walking. They are used to assess various
aspects of gait, such as joint angles, angular velocities, and spatiotemporal
parameters. These parameters are crucial for understanding normal and
abnormal walking patterns and for designing interventions or treatments for
individuals with gait disorders. Here are some key kinematic gait parameters:

1. Joint Angles:

i. Hip Angle: The angle between the thigh and the torso.

ii. Knee Angle: The angle between the thigh and the shin.

iii. Ankle Angle: The angle between the shin and the foot.

2. Angular Velocities:

i. Hip Angular Velocity: The rate of change of hip angle.

ii. Knee Angular Velocity: The rate of change of knee angle.

iii. Ankle Angular Velocity: The rate of change of ankle angle.

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 1.3.2 Kinetic gait parameters:

Kinetic gait parameters refer to the measurements and analyses of the forces
acting on the body during walking. These parameters provide important
information about the interaction between the body and the ground, which is
crucial for understanding normal and abnormal walking patterns. Here are some
key kinetic gait parameters:

i. Ground Reaction Force (GRF): This is the force exerted by the

ground on a body in contact with it. It is measured in three dimensions
(vertical, anterior-posterior, and medial-lateral) and provides
information about how the body interacts with the ground during
walking as depicted in the Figure 1.3.

Figure 1.3 Ground reaction forces

ii. Power: This refers to the rate at which work is done. In the context of
gait analysis, it indicates the mechanical power generated or absorbed
by the muscles and joints during walking.

iii. Center of Pressure (COP): This is the point where the resultant force
vector of the GRF intersects the ground. It gives information about the
distribution of pressure on the foot and can be used to analyze
stability.

iv. Joint Moments: These represent the rotational forces acting at the
joints during walking. They indicate how much torque is required at a

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 joint to overcome the resistance of the limb segments.

v. Joint Contact Forces: These forces represent the loads experienced at

the joint surfaces during walking. They are important for
understanding joint loading and potential wear and tear.

vi. Joint Impulse: It's the integral of the joint moment over time, which
represents the net amount of angular momentum imparted to a
segment.

vii. Stance Phase and Swing Phase Forces: These refer to the forces
acting on the body during specific phases of the gait cycle.

1.3.3 Spatio-temporal gait parameters:

Spatio-temporal gait parameters refer to measurements related to both space

(distance) and time during walking. These parameters are essential for analyzing
the basic characteristics of a person's gait. They provide valuable information
about the rhythm, cadence, and efficiency of walking. Here are some key spatio-
temporal gait parameters:
i. Stride Length: This is the distance covered in one full gait cycle,
from the heel strike of one foot to the next heel strike of the same foot.

ii. Step Length: This is the distance between the heel strike of one foot
and the heel strike of the opposite foot. It's half of the stride length.

iii. Step Width (Base of Support): This is the lateral distance between
the two feet at a given point in the gait cycle. It's measured as the
perpendicular distance between the midpoint of the heels.

iv. Cadence (Step Rate): This refers to the number of steps taken per
unit of time, usually measured in steps per minute.

v. Walking Speed: This is the rate at which a person is walking,

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 typically measured in meters per second or kilometers per hour.

vi. Stance Phase: This is the portion of the gait cycle when the foot is in
contact with the ground. It includes initial contact, loading response,
midstance, terminal stance, and pre-swing.

vii. Swing Phase: This is the portion of the gait cycle when the foot is off
the ground. It includes initial swing, mid-swing, and terminal swing.

viii. Single Support Phase: This is the period when only one foot is in
contact with the ground.

ix. Double Support Phase: This is the period when both feet are in
contact with the ground.

x. Stride Time: The duration of one complete gait cycle (from one heel
strike to the next heel strike of the same foot).

xi. Step Time: The time between successive heel strikes of opposite feet.

xii. Percentage of Gait Cycle: It refers to the percentage of the gait cycle
at which specific events occur, such as initial contact, toe-off, and
maximum knee flexion.

xiii. Joint Angles: These include measurements of angles at the hip, knee,
and ankle joints during different phases of the gait cycle.

xiv. Ground Reaction Forces: These are forces exerted by the ground on
the foot during walking and provide information about weight
distribution and balance.

xv. Muscle Activation Patterns (Electromyography - EMG): These

indicate the electrical activity of muscles during walking.

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 These parameters, when analyzed collectively, provide a comprehensive
understanding of a person's walking pattern. They are crucial for
diagnosing and treating various musculoskeletal, neurological, and
orthopedic conditions, as well as for designing interventions like orthotics
or prosthetics, optimizing sports performance, and planning rehabilitation
programs.

1.4 ANATOMICAL PLANES IN GAIT

In gait analysis, understanding the anatomical planes is crucial for

assessing the movement of joints and segments during walking. The three
primary anatomical planes are:

1.4.1 Sagittal Plane:

This plane divides the body into left and right halves. Movements in the
sagittal plane occur around the anterior-posterior axis. In gait analysis,
sagittal plane movements are particularly important for understanding
flexion and extension at joints.

Examples in Gait:

i. Hip Flexion/Extension: During the swing phase, the hip flexes

to bring the leg forward and extends for heel strike.
ii. Knee Flexion/Extension: The knee flexes during swing phase
and extends during stance phase.
iii. Ankle Dorsiflexion/Plantarflexion: The ankle dorsiflexes for
foot clearance during swing and plantarflexes for push-off
during stance.

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1.4.2 Frontal Plane:
This plane divides the body into front and back halves. Movements in
the frontal plane occur around the mediolateral axis. In gait analysis,
frontal plane movements are important for understanding abduction and
adduction.

Examples in Gait:

I. Hip Abduction/Adduction: During stance, the hip abducts to

help support the body's weight and adducts during swing for a
smooth stride.
II. Knee Abduction/Adduction: These movements help maintain
alignment of the knee with the rest of the leg during walking.
III. Ankle Inversion/Eversion: These movements contribute to
foot placement and stability.

1.4.3 Transverse Plane:

This plane divides the body into upper and lower halves. Movements in
the transverse plane occur around the longitudinal axis. In gait analysis,
transverse plane movements are important for understanding rotation.

Examples in Gait:

i. Hip Internal/External Rotation: These movements help

control the orientation of the thigh during various phases of
gait.
ii. Knee Internal/External Rotation: They play a role in
controlling the direction of the knee joint movement.

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These anatomical planes and their associated movements are assessed to
gain insights into the biomechanics of walking. Understanding how the
body moves in these planes helps in diagnosing and addressing gait
abnormalities, as well as designing interventions or treatments to improve
gait function.

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 CHAPTER 2

DEVICES LEARNT IN THE

LABORATORY

2.1 XSENS

XSENS is a company specializing in 3D motion analysis technology.

They are known for developing motion capture systems and inertial motion
capture technology. These systems are used in various industries, including
animation and filmmaking, sports analysis, biomechanics research, and
industrial applications. The XSENS device used in the gait analysis laboratory
is shown in the Figure 2.1

Figure 2.1 – XSENS

2.1.1 WORKING
It‟s motion capture technology relies on inertial sensors attached to the
body, which can track movements in real-time. This allows for the creation of
highly accurate 3D motion data that can be used for a variety of purposes, such
11
as creating realistic character animations for movies or analyzing the
movements of athletes for training and performance improvement. Xsens IMU
(Inertial Measurement Unit) sensors have found significant application in gait
analysis.
It plays a crucial role in capturing and analyzing the motion of different
body segments during gait by using the mt manager software as shown in the
Figure 2.2.

Figure 2.2 XSENS graph

2.1.2 FEATURES

i. Real-time Motion Capture: It‟s IMU sensors provide real-time data

on the orientation and movement of body segments. This allows for
immediate feedback during gait analysis, enabling researchers and
clinicians to make on-the-spot assessments.

ii. Portability and Versatility: IMU-based systems are highly portable

and can be used in various environments, including clinical settings,

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 sports fields, and even outdoors. This flexibility makes them suitable
for a wide range of gait analysis applications.

iii. Markerless Motion Capture: Unlike traditional optical motion

capture systems that require the placement of reflective markers on the
subject's body, IMU sensors are markerless. This reduces setup time
and allows for more natural and unrestricted movement during data
collection.

iv. Full-body Kinematics: Xsens‟ IMU systems can capture motion data
from multiple body segments simultaneously, providing a
comprehensive view of the entire body's movement during gait. This is
crucial for understanding how different segments interact and
contribute to overall locomotion.

v. Joint Angles and Kinetics: IMU sensors are capable of providing

detailed information on joint angles, which is essential for
understanding the mechanics of gait. Additionally, they can be used to
estimate ground reaction forces and moments, offering insights into the
forces exerted on the body during walking or running.

vi. Rehabilitation and Clinical Assessment: Xsens IMU systems are

employed in clinical settings for assessing gait abnormalities in
individuals with neurological or musculoskeletal conditions. They can
provide valuable information for designing rehabilitation programs and
tracking progress over time.

2.1.3 APPLICATIONS

Xsens IMU (Inertial Measurement Unit) gait analysis devices are used
in various fields to capture and analyze human movement. They provide
precise measurements of accelerations, angular rates, and magnetic fields,

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allowing for detailed motion analysis. Here are some applications of Xsens
IMU gait analysis devices:
i. Clinical Gait Analysis: Rehabilitation and Physical Therapy:
Assessing and monitoring patients' gait patterns to design personalized
rehabilitation programs.

ii. Orthopedics: Evaluating gait abnormalities related to musculoskeletal

conditions or injuries.

iii. Sports Performance Analysis: Analyzing athletes' movements to

enhance performance, prevent injuries, and optimize training routines.

iv. Biomechanical Research in Sports Science: Investigating the

mechanics of different sports movements for performance
enhancement and injury prevention.

v. Neurological Studies:

 Stroke Rehabilitation: Monitoring and analyzing gait in stroke

patients to track progress and tailor rehabilitation programs.
 Parkinson's Disease Research: Studying gait abnormalities in
individuals with Parkinson's disease to better understand the
condition and develop interventions.

vi. Ergonomics and Workplace Safety:

 Ergonomic Assessments: Analyzing the movement of workers in

various industries to improve ergonomics and prevent workplace
injuries.
 Safety Analysis in Hazardous Environments: Evaluating the
movement of workers in environments like construction sites,
manufacturing plants, or nuclear facilities to ensure safety protocols
are followed.
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vii. Virtual Reality and Augmented Reality (VR/AR): Immersive
Training and Gaming: Integrating IMUs into VR/AR systems for
realistic motion tracking and interactive experiences.

viii. Animation and Filmmaking: Motion Capture for Animation:

Capturing natural human movement for animation in movies, video
games, and virtual simulations.

ix. Prosthetics and Exoskeleton Development:

 Prosthetic Limb Optimization: Developing and testing prosthetic
limbs to ensure they mimic natural gait patterns.
 Exoskeleton Design and Testing: Creating and refining
exoskeletons to assist individuals with mobility challenges.

x. Aerospace and Automotive Industries: Evaluating Human-Machine

Interaction: Studying how pilots or drivers interact with their
respective vehicles to improve cockpit or cabin designs for comfort
and safety.

xi. Academic and Clinical Research: Human Movement Studies:

Conducting research on various aspects of human movement, including
gait analysis, to contribute to scientific knowledge.

xii. Recreational and Consumer Applications: Fitness Tracking and

Analysis: Monitoring and analyzing physical activities for fitness

enthusiasts or casual users.

xiii. Biomechanics Education: Teaching and Training: Providing hands-on

experience for students studying biomechanics, kinesiology, and
related fields.

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 Xsens IMU sensors have revolutionized gait analysis by offering a reliable,
accurate, and convenient method for capturing and analyzing human motion.
Their application extends beyond gait analysis to various fields including
animation, biomechanics, virtual reality, and more.

I learned about the method of acquiring the measurements in XSENS. Sony

Mam explained about the procedure, how to place the IMU sensors in the
correct position and demonstrated the method of acquiring the parameters.
Using myself as the subject, my walking patterns are analyzed using the
XSENS device.

2.2 EMG WITH DATALOGGER

An Electromyography (EMG) sensor is a device used to measure and

record the electrical activity produced by muscles. It detects the electrical
signals generated by muscle cells when they contract, and converts these
signals into a form that can be analyzed and interpreted. The electrodes and
data logger used in the device are shown in the below Figure 2.3.

Figure 2.3 EMG Electrodes and Data logger

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 2.2.1 EMG ACQUIRING PROCESS

EMG (Electromyography) with a datalogger refers to a setup where

electromyographic signals, which are electrical signals generated by muscles
during contraction, are recorded and stored over time for later analysis. The
process involved is stated in the block diagram Figure 2.4.

Figure 2.4 EMG Block diagram

This is commonly used in various fields including sports science,

rehabilitation, and research. The methods involved in the EMG acquiring
process are as follows:

1. Electrode Placement: EMG sensors typically consist of one or more

electrodes that are placed on or in close proximity to the skin overlying the
muscle of interest. These electrodes pick up the electrical signals produced
by the muscle fibers as depicted in the below Figure 2.5.

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 Figure 2.5 – EMG Electrodes and Data logger placement

2. Signal Amplification: The electrical signals picked up by the electrodes are

usually very weak. EMG sensors have built-in amplifiers to boost these
signals for accurate measurement and analysis.

3. Filtering: EMG sensors often have built-in filters to remove unwanted

noise and interference from the signal. This helps to isolate the muscle
activity from other electrical activity in the body.

4. Analog-to-Digital Conversion (ADC): The amplified and filtered EMG

signal is then converted from analog to digital form so that it can be
processed and stored by a computer or data acquisition system.

5. Data Recording: EMG sensors are used in conjunction with data

acquisition systems or EMG units that capture, store, and sometimes
process the EMG signals. This data can be analyzed to provide information
about muscle function.

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 2.2.2 VISUAL ANALYSIS OF ACQUIRED EMG SIGNAL

Chitra Ma‟am explained about the EMG signals which are acquired from
the skeletal muscles and the applications such as human-computer interface,
rehabilitation, muscle activation and contraction intensity. She demonstrated
the method of acquiring EMG signals in the biceps with myself as the test
subject.
Later I was asked to acquire EMG signals from the Tibialis anterior
muscle. EMG Signals during the actions such as slow walking, normal
walking, fast walking, dorsiflexion and plantarflexion were recorded and are
plotted in a grap as shown in the Figure.

Figure 2.6 - Visual analysis of EMG Data

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 From the graph, the following parameters are obtained as shown in the below
Table 2.1.

Activity/Parameters Amplitude Duration No. of Distance Speed

(mV) (s) steps (m) (m/s)
Slow Walk 681 13.9 11 9.144 0.657
Fast Walk 1818 7.1 7 9.144 0.776
Dorsiflexion 3827 15 - - -
Plantarflexion 1442 15 - - -

Table 2.1 - Visual analysis of EMG Data

The number of steps taken during fast walk is less than the number of steps
taken during the slow walk. The amplitude of the signal during dorsiflexion is
higher than the amplitude of the signal during plantarflexion i.e., the Tibialis
anterior muscle attains maximum contraction during dorsiflexion.

Hence the muscle Tibialis anterior is identified as a dorsiflexor muscle.

2.2.3 APPLICATIONS

I. Clinical Diagnosis: EMG sensors, especially needle electrodes, are

used in clinical settings to diagnose neuromuscular disorders, nerve
injuries, and other conditions affecting the muscles and nerves.

II. Rehabilitation: EMG sensors are used in physical therapy and

rehabilitation settings to assess muscle function, monitor progress, and
design personalized treatment plans.

III. Sports Science: They are used to analyze muscle activation patterns in
athletes to optimize training and prevent injuries.
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 IV. Biomechanical Research: EMG is a valuable tool in studying human
movement and understanding the mechanics of activities like walking,
running, and lifting.

V. Biofeedback: In some cases, EMG sensors are used in biofeedback

therapy. This involves providing real-time feedback to a patient about
their muscle activity, helping them learn to control or relax specific
muscle groups.

2.3 EXOSKELETON

Exoskeletons play a significant role in gait analysis, particularly in

rehabilitation and research settings. They are wearable devices designed to
support, augment, or restore human physical capabilities, often focusing on the
lower limbs as shown in the Figure 2.7. In gait analysis, exoskeletons are used
to monitor and modify the walking pattern of individuals, providing valuable
data for understanding and improving mobility.

Figure 2.7 – Exoskeleton

Depending on the type and function of the exoskeleton, they can work

21
very differently. The two broad categories of exoskeletons are mechanical and
powered exoskeletons.
Passive Exoskeletons: Passive exoskeletons are unpowered and
function primarily mechanically by redistributing weight from one part of the
body to another. One common way they work is by taking the weight from the
arms and shoulders and distributing it to the core or leg muscles. This way, the
arms fatigue less, and the weight is spread out more, reducing the chances of
strain and injury.
Powered Exoskeletons: Electric exoskeletons, on the other hand, can
add strength and function to the wearer. However, because such exoskeletons
require power, they‟re typically heavier and bulkier to allow for the hardware
and batteries. They also need recharging and may have short battery lives,
which can be a downside in fast-paced industries.

2.3.1 WORKING PRINCIPLE

Exoskeletons used in gait analysis work on several key principles to

assist or enhance the mobility and movement of individuals. Here's an
overview of the working principles:

1. Sensors for Motion Capture: Exoskeletons are equipped with

various sensors, including accelerometers, gyroscopes, and joint
angle sensors. These sensors continuously monitor the position,
orientation, and movement of the wearer's limbs and joints.

2. Data Processing and Analysis: The sensor data is processed by

an onboard computer or control system. Advanced algorithms
are used to interpret this data and derive meaningful information
about the wearer's movements.

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3. Kinematic and Kinetic Analysis: The exoskeleton analyzes
both kinematic (motion-related) and kinetic (force-related)
aspects of movement. This includes parameters like joint angles,
angular velocities, accelerations, ground reaction forces, and
more.

4. Control System and Actuators: The control system uses the

processed data to determine how the exoskeleton should
respond. This information is used to control the actuators
(motors or mechanisms) within the exoskeleton.

5. Powered Assistance or Resistance: Depending on the design

and purpose of the exoskeleton, the actuators can provide
assistance, resistance, or a combination of both during
movement. For example, they can assist in lifting a leg during
walking or provide resistance to build strength.

6. User-Adaptive Control: Some exoskeletons incorporate

adaptive control algorithms. These algorithms can adjust the
level of assistance or resistance based on real-time feedback
from the user and the environmental conditions.

7. Feedback Mechanisms: Exoskeletons often provide feedback

to the user to enhance their proprioception (awareness of body
position) and help them adapt to the exoskeleton's assistance.
This can include visual displays, auditory cues, or haptic
feedback.

23
 In the gait analysis laboratory, knee exoskeleton is available as shown
in the Figure 2.8.

Figure 2.8 – Knee Exoskeleton

2.3.2 APPLICATIONS
The following are the applications of exoskeleton:
i. Support and Assistance: Exoskeletons can provide physical support
and assistance to individuals with mobility impairments. They can help
patients with neurological or musculoskeletal conditions, such as spinal
cord injuries, stroke survivors, or those with muscular dystrophy, to
walk more effectively.

ii. Data Collection: Exoskeletons are equipped with sensors that record
various parameters related to the user's gait. These sensors can include
accelerometers, gyroscopes, force sensors, and joint angle sensors.
This data is crucial for understanding the user's walking pattern.

iii. Real-time Feedback: Some advanced exoskeletons provide real-time

feedback to the user and/or the therapist. This can include visual or
auditory cues to help the individual correct their gait in real-time.

iv. Gait Analysis Software: Data collected from the exoskeleton sensors

24
 is typically processed using specialized gait analysis software. This
software helps in visualizing and interpreting the data to extract
meaningful insights about the individual's gait.

v. Customization and Optimization: Based on the data collected,

therapists and researchers can customize the exoskeleton's settings to
suit the specific needs of the user. This might involve adjusting
parameters like step length, step height, or the level of assistance
provided by the exoskeleton.

vi. Rehabilitation and Training: Exoskeletons are used in rehabilitation

settings to provide intensive and repetitive gait training. This helps
individuals regain strength and coordination in their lower limbs.

vii. Long-term Monitoring: Some exoskeletons are equipped with long-

term monitoring capabilities, allowing therapists and researchers to
track the progress of the individual over an extended period.

viii. Research and Development: Exoskeletons are also used in research

settings to study various aspects of gait, such as energy expenditure,
muscle activation patterns, and the impact of exoskeleton-assisted
walking on overall mobility and quality of life.

ix. Clinical Assessments: Exoskeletons can assist in conducting clinical

assessments of gait parameters, which are important for monitoring
progress and making informed decisions about the course of treatment.

x. Integration with Other Technologies: Exoskeletons can be integrated

with other technologies, such as virtual reality or gaming systems, to
create engaging and interactive gait training environments.

25
 2.4 DELSYS

DELSYS EMG systems are often used to study the muscle activity
patterns of individuals during walking and other locomotion activities.
DELSYS is ideal for recording the muscle tissue contractions and electrical
muscle activity in your subjects, especially when range of movement and
comfort are important.
It is the combination of EMG and IMU sensor. The DELSYS system is
shown in the Figure 2.9.

Figure 2.9 – DELSYS SYSTEM

Applications for wireless electrodes include track & field and gymnastics; but
our wireless EMG solutions are also ideal for „on the spot‟ applications, or
when small, difficult to isolate muscles are being assessed.
Whether you are studying motor control for patient rehabilitation or muscle
performance, activity, and fatigue in elite athletes, this system offers
26
streamlined wireless systems that let you record and measure electrical muscle
activity simply and easily through the trigno discover software as shown in the
Figure 2.10.

Figure 2.10-TRIGNODISCOVER SOFTWARE

2.4.1 FEATURES

1. EMG Sensors Placement: DELSYS gait analysis devices consist of

surface EMG sensors. These sensors are placed on specific muscles of
interest. For gait analysis, muscles related to leg movement and stability
are typically monitored, including muscles of the thighs, calves, and
lower back.

2. Muscle Activity Measurement: The EMG sensors detect and record

the electrical activity generated by muscle contractions. This activity is
represented in microvolts (µV) and corresponds to the firing of motor
units within the muscle.

3. Analog Signal Amplification and Conditioning: The raw EMG

27
 signals are very weak and need to be amplified to improve their strength
and clarity. This is achieved through analog amplifiers within the
DELSYS device. Additionally, any noise or interference in the signal is
filtered out to ensure accurate measurements.

4. Analog-to-Digital Conversion (ADC): The amplified and conditioned

analog EMG signals are converted into digital format using an ADC.
This process converts the continuous analog signal into discrete digital
values that can be processed by a computer.

5. Real-time Data Transmission: The digital EMG data is transmitted in

real-time to a connected computer or data acquisition system. This
allows for immediate analysis and visualization of muscle activity
during gait.

6. Software Interface: DELSYS provides specialized software for data

acquisition and analysis. This software allows users to configure the
system, set up recording parameters, and view real-time muscle activity
data in graphical form.

7. Synchronization with Motion Capture Systems: In gait analysis, it is

often crucial to synchronize EMG data with motion capture data.
DELSYS systems can be integrated with motion capture systems to
align muscle activity with the kinematic and kinetic data collected
during gait analysis.

8. Muscle Activity Analysis: The recorded EMG data can be analyzed to

gain insights into muscle activation patterns, timing of muscle
contractions, and relative contributions of different muscles during
various phases of gait.

28
9. Data Processing and Interpretation: Post-processing of the EMG data
may involve filtering, rectification, and normalization. This helps in
quantifying muscle activity and comparing it across different conditions
or individuals.

10. Reporting and Visualization: Results of the analysis are typically

presented in graphical and numerical formats, allowing for easy
interpretation and comparison. This information is valuable for
clinicians, researchers, and practitioners involved in gait analysis.

2.4.2 APPLICATIONS

i. Muscle Activity Measurement: DELSYS EMG sensors are placed on

specific muscles of interest. These sensors detect and record the
electrical activity generated by muscles during movement. This data
provides insights into which muscles are active and to what extent
during the gait cycle.

ii. Temporal Analysis: By synchronizing EMG data with other motion

capture systems (such as 3D motion analysis systems), researchers can
precisely correlate muscle activation patterns with specific phases of
the gait cycle (e.g., stance phase, swing phase).

iii. Spatial Analysis: Along with motion capture systems, DELSYS EMG
can help in understanding how muscle activation patterns change in
different planes (sagittal, frontal, transverse) during walking.

iv. Balance and Stability Assessment: EMG data can provide

information about muscle activity related to balance and stability

29
 during gait. This is particularly important in clinical settings for
assessing individuals with balance disorders or rehabilitation needs.

v. Pathological Gait Analysis: DELSYS EMG technology can be used

to analyze the gait patterns of individuals with various neuromuscular
disorders, such as cerebral palsy, stroke, or spinal cord injuries. This
information can inform treatment plans and interventions.

vi. Gait Training and Rehabilitation: Understanding muscle activity

during gait is crucial for designing effective rehabilitation programs.
DELSYS EMG can assist in developing personalized training regimes
to target specific muscle groups.

vii. Biomechanical Research: Combining EMG data with other

biomechanical measurements like joint angles and forces can provide a
comprehensive understanding of the mechanics of walking.

viii. Sport and Performance Analysis: DELSYS EMG technology is also

used in sports science to analyze the muscle activation patterns of
athletes during activities like running, sprinting, and jumping. This
information can be used to optimize training programs.

2.4.3 VISUAL ANALYSIS OF ACQUIRED DELSYS SIGNALS

Using myself as the subject, the muscles Tibialis anterior and

Gastrocnemius lateralis were studied during walking using the DELSYS
system and the EMG signal with IMU parameters such as accelerometer and
gyroscope readings are acquired for the muscles Tibialis anterior and
Gastrocnemius medialis as shown in the Figure 2.11.

30
 Tibialis anterior (Rt) Gastrocnemius medialis (Rt)

ACC Y (G) 148.1481 Hz

0
1
91
181
271
361
451
541
631
721
811
901
991

1441
1081
1171
1261
1351

1531

-1
-2
-3
-4

-5

Figure 2.11– ACQUIRED DELSYS MEASUREMENTS

From the above graphs, we can see that no peaks are seen in the
Gastrocnemius muscle when there is a peak in the Tibialis anterior muscle
during walking and vice versa. Hence the muscle Gastrocnemius medialis is
antagonist to Tibialis anterior.

31
 2.5 MPU9250

The MPU9250 (shown in figure 2.12) developed by InvenSense (now

TDK-InvenSense), is a system-on-chip (SoC) that houses a gyroscope, an
accelerometer, and a magnetometer, all integrated onto a single small circuit
board. This compact device, equipped with advanced sensor fusion
algorithms, can provide real-time, high-precision data on movement,
acceleration, and orientation in multiple axes.

Figure 2.12– MPU9250

2.5.1 Key Components

Gyroscope: The gyroscope component of the MPU9250 measures angular

velocity around the X, Y, and Z axes. It detects changes in orientation and
rotation, making it an essential tool for tracking the movement of objects or
organisms.
Accelerometer: The accelerometer within the MPU9250 measures
acceleration in the X, Y, and Z axes. It can detect both static and dynamic
acceleration, allowing it to capture a wide range of motion data, from subtle
vibrations to rapid accelerations.
Magnetometer: The magnetometer detects changes in magnetic field
strength and direction, enabling the determination of absolute orientation in

32
relation to the Earth's magnetic field. This is particularly valuable for
applications requiring precise heading information.
Integration of these three sensors into a single module provides a
comprehensive and synchronized view of an object's motion and orientation,
making the MPU9250 an ideal choice for various applications, including but
not limited to gaming, robotics, virtual reality, and, most notably, biomedical
applications.

2.5.2 Application:

The MPU9250's integration of gyroscope, accelerometer, and

magnetometer sensors has opened up new possibilities in the realm of
biomedical engineering. Its ability to provide real-time, accurate data on
human motion and orientation has led to its adoption in numerous
applications with significant implications for healthcare, rehabilitation, and
research.
Gait Analysis: Gait analysis is a fundamental aspect of biomechanics,
essential for understanding and diagnosing various musculoskeletal and
neurological conditions. The MPU9250's precise motion tracking capabilities
have made it an invaluable tool in gait analysis systems. Researchers and
healthcare professionals use it to collect data on a person's walking patterns,
helping identify abnormalities and evaluate the effectiveness of treatments
and interventions.
By attaching the MPU9250 to different parts of the body, such as the legs
or torso, researchers can obtain detailed information about joint angles, stride
length, step frequency, and balance. This data aids in diagnosing conditions
like Parkinson's disease, stroke, and cerebral palsy, and it guides the
development of personalized rehabilitation programs.

33
 Fall Detection and Prevention: Falls are a significant concern,
particularly among the elderly population, as they can result in severe injuries
and reduced quality of life. The MPU9250's accelerometer and gyroscope
sensors can be integrated into wearable devices or smart home systems to
detect falls in real time. When a fall is detected, these systems can trigger
alerts or automatic responses, such as notifying caregivers or emergency
services.
Moreover, the MPU9250's orientation tracking capabilities allow for the
assessment of body posture before, during, and after a fall, enabling a better
understanding of fall dynamics. This information can be used to develop fall
prevention strategies and improve the design of assistive devices like
prosthetics and orthotics.
Rehabilitation and Physical Therapy: Rehabilitation and physical
therapy often require precise monitoring of a patient's movements to assess
progress and tailor treatment plans. The MPU9250's motion tracking
capabilities make it an ideal choice for developing wearable devices that
provide real-time feedback to patients and therapists.
For example, stroke survivors may use wearable devices equipped with
the MPU9250 to track arm movements during rehabilitation exercises.
Therapists can analyze this data to adjust exercise intensity and evaluate the
patient's recovery progress. Similarly, individuals recovering from orthopedic
surgeries can benefit from wearable sensors that monitor joint movements
and weight distribution during activities like walking and stair climbing.
Posture Correction: Poor posture is a common problem that can lead
to various health issues, including musculoskeletal pain and reduced lung
capacity. The MPU9250's gyroscope and accelerometer can be integrated into
wearable devices designed to encourage good posture habits. These devices
can provide real-time feedback to users, alerting them when they slouch or
adopt unhealthy positions.

34
 In addition to real-time feedback, the MPU9250 can record posture data
over time, allowing users and healthcare professionals to track improvements
and identify trends in posture-related issues. This data-driven approach to
posture correction can be particularly beneficial for individuals with chronic
back pain or those looking to prevent posture-related problems.

2.6 ESP32

The ESP32, developed by Espressif Systems, is a powerful

microcontroller that builds upon the success of its predecessor, the ESP8266.
It is equipped with a dual-core processor, Wi-Fi and Bluetooth capabilities,
and a rich set of input/output pins. These features make it suitable for a wide
range of applications, from IoT devices to industrial automation. However,
what sets the ESP32 apart is its adaptability for use in the biomedical field.

Figure 2.13 ESP 32

2.6.1 Key Features of the ESP32

i. Dual-Core Processor: The ESP32's dual-core Xtensa LX6 processor

allows for multitasking and efficient processing. This feature is
particularly advantageous in biomedical applications where real-time
35
 data processing is crucial, such as in wearable health monitoring
devices and diagnostic tools.

ii. Wireless Connectivity: The integrated Wi-Fi and Bluetooth

connectivity of the ESP32 facilitate seamless data transmission
between devices and enable remote monitoring and control. This
connectivity is vital for transmitting patient data to healthcare
providers in real-time, enabling telemedicine solutions.

iii. Low Power Consumption: Biomedical devices often need to operate

on battery power for extended periods. The ESP32's ability to operate
in low-power modes and its support for deep sleep states make it ideal
for battery-powered medical devices, ensuring longer operational
lifespans.

iv. Extensive I/O Options: The ESP32 boasts a multitude of GPIO pins,
analog inputs, and communication interfaces, including SPI, I2C, and
UART. This versatility allows for the integration of various sensors,
displays, and other peripherals in biomedical applications.

2.6.2 Applications

The following are the applications of ESP 32:

i. Wearable Health Monitoring Devices: Wearable devices, such as
fitness trackers and smartwatches, have gained immense popularity in
recent years. The ESP32 is well-suited for these devices, as it can
collect data from sensors measuring heart rate, ECG, temperature, and
more. With its low power consumption and wireless connectivity, it
enables continuous health monitoring and data synchronization with
smartphones or cloud platforms.

36
ii. Remote Patient Monitoring: The ESP32's ability to connect to the
internet via Wi-Fi or Bluetooth makes it an excellent choice for remote
patient monitoring systems. These systems enable healthcare providers
to monitor patients' vital signs, medication adherence, and overall
health remotely, enhancing patient care and reducing hospital
readmissions.

iii. Point-of-Care Diagnostic Tools: Point-of-care diagnostic tools are

essential for rapid and accurate disease detection. The ESP32 can be
used to develop portable diagnostic devices that can perform tasks such
as DNA analysis, immunoassays, and blood glucose monitoring. Its
computational capabilities and wireless connectivity enable real-time
analysis and reporting of test results.

iv. Telemedicine Solutions: Telemedicine has gained prominence as a

means to provide healthcare services remotely, especially in
underserved areas. The ESP32's connectivity options facilitate video
conferencing, data sharing, and remote consultation with healthcare
professionals. It ensures reliable communication between patients and
doctors, regardless of geographical distances.

v. Smart Prosthetics and Assistive Devices: The ESP32 can be

integrated into smart prosthetics and assistive devices, improving the
quality of life for individuals with disabilities. By interfacing with
sensors and actuators, it allows for more intuitive and responsive
control of these devices, enabling greater mobility and independence.

vi. Laboratory Instrumentation: In research and clinical laboratories,

the ESP32 can be employed in data acquisition systems, controlling
and monitoring equipment, and automating experiments. Its versatility
and connectivity options simplify data management and analysis,

37
 enhancing the efficiency of laboratory operations.

2.7 Signal processing of EMG

Signal processing of electromyographic (EMG) signals involves various
techniques to analyze and extract information from the electrical activity of
muscles. EMG signals are often used in clinical and research settings to study
muscle function, diagnose neuromuscular disorders, and develop applications
such as prosthetics and human-computer interfaces. Here are the key steps
and techniques involved in EMG signal processing:

i. Signal Acquisition: EMG signals are typically recorded using surface

electrodes or needle electrodes, depending on the application.The
signals are amplified and filtered to remove noise and improve the
signal-to-noise ratio.

ii. Pre-processing:

 Filtering: EMG signals are often filtered to remove noise and

unwanted components.
 Low-pass filtering is used to remove high-frequency noise.
 High-pass filtering can eliminate baseline drift and slow artifacts.
 Rectification: The absolute value of the signal is taken to make it
unipolar.
 Smoothing: Techniques like moving average or exponential
smoothing can be applied to reduce noise and obtain an envelope
signal.

iii. Feature Extraction: Quantitative information such as mean absolute

value, root mean square, zero crossing rate, and waveform length can
be extracted from the EMG signal.
38
 iv. Frequency-domain features: Techniques like Fast Fourier Transform
(FFT) can be used to analyze the frequency content of the signal.

v. Time-frequency domain features: Wavelet analysis and short-time

Fourier transform (STFT) can provide information on the signal's time-
varying frequency components.

vi. Segmentation: EMG signals are often divided into segments or epochs
corresponding to different muscle activities or tasks.

vii. Pattern Recognition: Classification and pattern recognition

techniques, such as machine learning algorithms, can be applied to
classify the EMG signal into different states or actions, e.g., different
muscle movements or gestures.

viii. Interpretation: The extracted information can be used to monitor

muscle health, detect neuromuscular disorders, control prosthetic
devices, or for other applications, depending on the context.

ix. Visualization: Visualization tools and techniques, such as time-

domain and frequency-domain plots, can help in the visual analysis of
EMG signals.

x. Noise Reduction: Advanced noise reduction techniques, like adaptive

filtering and independent component analysis, can further improve the
quality of EMG signals.

39
 CHAPTER 3
FIELD VISIT
3.1 CSIR:
The role of CSIR-CLRI in scientific industrial research space of India is
very focused. Objective of the institute is to meet the needs of the leather and
allied sectors through research, technology development and transfer, training
and industrial support and formulation of policies and plan of action that
ensures a technology based competitive advantage for Indian leather.
Leather technology, which deals with tanning raw hides and skins and
finishing the tanned leather to impart to it the specific properties which it
should have to be suitable for making particular types of leather articles
either for military or civilian use, although very old, is still making progress.
Its progress has been due to the application of various branches of science to
it and research which is being carried out to explain the principles underlying
the old craft of tanning, to throw light on the mechanism whereby the
profound change viz., the conversion of putrescible raw hides and skins into
imputrescible and permanent leather is brought about to improve the old
techniques of leather manufacture and to work out new techniques with the
help of modern science and machinery.

3.1.1 Shoe & Product Design Centre (SPDC):

Shoe & Product Design Centre (SPDC) at CSIR-Central Leather Research
Institute with its expertise and infrastructural facilities strive to support the
Indian leather product sector to become the global leader. This Centre has
well equipped GAIT Laboratory, CAD/CAM centre, Design and
Development facilities, Product fabrication pilot plant and Training facilities.
SPDC also provides consultancy services to national and international clients
in the area of the leather products.

40
3.1.2 P - WALK:

Figure 3.1 – P - Walk

I. Plantar pressure measurement device

II. Composed of multiple pressure platforms (2 m)
III. Can perform both static and dynamic analysis
IV. Allows evaluation of plantar pressure distribution, Topology of foot
and stabilometric analysis
V. Ideal solution to diagnose the pathogens related to the balance and
gait disorders.

3.1.2.1 Applications
I. To study distribution of plantar pressure at foot ground interface
and to identify the size of peak plantar pressure to protect it from
further complications by providing corrective/ theraupeutic
footwear/orthotics.
II. To find the posture stability of the subject.
III. The result is useful for orthopaedist, physiotherapist and
podiatrist to analyze the foot topology and how the subject
walks.

41
3.1.3 ZEBRIS

This is a method used to assess and analyze an individual's walking or

running pattern, known as their gait. It involves the use of specialized
equipment and technology, such as pressure-sensing platforms and motion
capture systems, to provide detailed insights into various aspects of a
person's gait. This type of analysis is particularly valuable in fields like
sports science, rehabilitation, orthopedics, and biomechanics.

Figure 3.2 – Zebris

Here are some key aspects of Zebris gait analysis:

Pressure Distribution Analysis: Zebris gait analysis often involves the

use of pressure-sensing platforms placed on the ground to measure how
the weight is distributed on each foot during the gait cycle. This helps in
identifying areas of excessive or uneven pressure, which can be indicative
of potential issues or imbalances.

Foot Pressure Mapping: The technology used in Zebris gait analysis

42
creates detailed foot pressure maps, allowing experts to understand how
the foot contacts the ground and the timing of pressure changes
throughout the walking or running cycle.

Motion Capture: High-speed cameras and sensors may be used to

capture the motion of different body segments during gait. This data can
reveal joint angles, joint movements, and overall posture during walking
or running.

Temporal and Spatial Analysis: The system measures various temporal

and spatial parameters, such as step length, step time, stride length, and
gait cycle duration. These measurements are valuable for assessing the
efficiency and symmetry of a person's gait.

Muscle Activation Analysis: Some advanced Zebris systems can be

integrated with electromyography (EMG) to analyze muscle activation
patterns during gait. This provides insights into muscle imbalances and
potential issues affecting gait.

Clinical and Research Applications: Zebris gait analysis is used in

clinical settings to diagnose and treat gait-related problems, such as
musculoskeletal injuries, orthopedic conditions, and neurological
disorders. It is also widely used in sports science and research to improve
athletic performance, prevent injuries, and enhance rehabilitation
strategies.

Customized Solutions:
Zebris gait analysis can be tailored to specific needs. For example, it is
often used in the design and fitting of custom orthotics or prosthetics to

43
 ensure a precise fit and optimal gait correction.

3.2 MUSEUM OF POSSIBILITIES

The Museum of Possibilities (MoP) is envisioned to demonstrate and

strengthen Assistive Technology across life domains for People with
Disabilities. This facility will enable awareness building on Accessible
Technology, Assistive Devices and products that caters for all users.

Figure 3.3 – Museum of Possibilities

MoP also looks forward to getting problem statements from visitors which
will be shared with the researchers and innovators so that a range of products
continues to be developed. Visitors can try out the accessible solutions and
decide which best suits their needs. Trained professionals will be there for
support. MoP aims at solutions for living independently as envisaged in the
Rights of Persons with Disabilities Act, 2016.
To move away from institutionalization and live in the community,
accessible environments, assistive devices and technology and other support
systems are needed. Enabling access will build the capacity of the person
44
with disability to participate in the home and community as a more equal
member.
It is important to unpack what living independently in the community
means. The goal, here, is to create possibilities of interdependent living in the
community, which does not mean lack of independence. In fact, it is a way of
life for all of us, both with and without disabilities.

It is important to unpack what living independently in the community

means. The goal, here, is to create possibilities of interdependent living in the
community, which does not mean lack of independence. In fact, it is a way of
life for all of us, both with and without disabilities.

Figure 3.4 – Innovative devices and materials in the museum

They have a dedicated team with creative understanding and passion

towards accessibility and inclusion who would make sure that our time with
us is pleasant and insightful. They have been trained to demonstrate and
explain the various devices and technologies on display, as well as assist us
in selecting the most appropriate aid. The training also included Disability
Awareness. Come and meet them at the Museum and have an enriching
experience. They will be all ears to listen to our needs and suggestions.
45
 CHAPTER 4:
ASSIGNMENTS GIVEN DURING INTERNSHIP:

4.1 ASSIGNMENT 1
To find the gait analysis devices that are available in the various
laboratories, companies and universities in Europe
UNIVERSITY OF SYDNEY RUNNING INJURY CLINIC
• Located in Sydney
• SERVICE OFFERED
Gait Analysis
Injury prevention
Injury rehabilitation
Research and Studies
INSTRUMENTS:
1. EMG
2. Motion capture systems
3. TMG (Muscle contractile properties)
4. Portable metabolic analyzers(measure Vo2 and Vco2)
5. Pressure mapping system
SOFTWARES:
1. VICON NEXUX (Motion capture)
2. Dartfish (video analysis)
PROJECTS:
1. Running Biomechanics
2. Injury Prevention and Rehabilitation
3. Running Performance Optimization
4. Technology and Running Analysis
BIOMECHANICS RESEARCH LABORATORY AT GRIFFITH
UNIVERSITY:
46
 • Located at Gold Coast, Australia
SERVICES OFFERED:
Gait Analysis
Sports Performance
Injury Prevention and Rehabilitation
INSTRUMENTS:
1. Motion capture systems
2. EMG
3. 3D Imaging systems
4. Pressure mapping system
SOFTWARES:
1. VICON NEXUS
2. Visual 3D (Processing, Modelling and Visualisation of motion capture
data)
3. Spike2 (Data acquisition and analysis
PROJECTS:
1. Sports Biomechanics
2. Musculoskeletal Injury Mechanisms
3. Ergonomics and Occupational Biomechanics
4. Clinical Biomechanics and Rehabilitation
STELLENBOSCH UNIVERSITY GAIT LABORATARY:
Located in Tygerburg northern suburbs of Cape Town in South Africa
SERVICE OFFERED:
Research and clinical assessments of gait patterns in individuals with
various musculoskeletal and neurological conditions.
INSTRUMENTS:
1. 3D Scanners (Detailed anatomical models of the feet, lower limbs, or
other body segments. These models can be used for precise measurements and
analysis of body segment angles and lengths)

47
 2. Motion capture systems
3. EMG
4. Pressure mapping system
SOFTWARES:
1. Force plate analysis software
2. VICON NEXUS
3. Visual 3D
PROJECTS:
Gait Analysis in Neurological Disorders
Gait Rehabilitation and Assistive Devices
Biomechanical Analysis of Gait
Gait Variability and Falls
UNIVERSITY OF CAPE TOWN LABORATORY:
Located at Capetown, South Africa
Gait analysis for various conditions, including neurological disorders,
orthopedic conditions, and sports-related injuries.
INSTRUMENTS:
1. 3D Scanners
2. Motion capture systems
3. EMG
4. Pressure mapping system
SOFTWARES:
1. Force plate analysis software
2. VICON NEXUS
3. Visual 3D
PROJECTS:
1. Clinical Gait Analysis
2. Biomechanics of Gait
3. Gait Analysis in Sports

48
 4. Aging and Gait
GAIT ANS MOTION ANALYSIS LAB AT KENYATTA CENTRAL
HOSPITAL:
Located at Kenya
INSTRUMENTS:
1. Motion Capture Systems
2. Force Plates
3. Electromyography (EMG) Systems
4. Instrumented Treadmills
5. Wearable Sensors
SOFTWARES:
1. Motion Analysis Software
2. Biomechanical Analysis Software
3. Statistical Analysis Software
PROJECTS
1. Clinical Gait Analysis
2. Biomechanics of Running
3. Rehabilitation and Movement Disorders
4. Sports Biomechanics
5. Wearable Technology and Monitoring
PHYSIOTHERAPHY GAIT ANALYSIS LAB, UNIVERSITY OF IBANDAN:
INSTRUMENTS:
1. Motion Capture Systems
2. Force Plates
3. Electromyography (EMG) Systems
4. Goniometers
5. Treadmills
SOFTWARES:
1. Motion Analysis Software

49
 2. Biomechanical Analysis Software
3. Statistical Analysis Software

PROJECTS:
1. Clinical Gait Analysis
2. Rehabilitation Interventions
3. Biomechanics of Gait
4. Falls Prevention
5. Movement Analysis in Specific Populations

4.2 ASSIGNMENT 2:
To process the of data acquired from DELSYS during forward and
backward walking.

4.2.1 FORWARD WALK EMG DATA:

import numpy as np
import matplotlib.pyplot as plt
import pandas as pd
load and read dataset
data=pd.read_excel(“C:\\Users\\Sri balaji P\\Documents\\TA AND GM
EMG.xlsx”)
#EMG DATA
emg_TA=data.iloc[:,0]
samples=data.iloc[:,2]
#ploting TA EMG signal
plt.figure(figsize=(16,5))
time = samples/1250
plt.plot(time,emg_TA)
font = {„weight‟ : „bold‟,‟size‟ : 13}

50
 plt.title(“EMG SIGNAL OF TIBIALIS ANTERIOR “, **font)
plt.xlabel(“Time”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.1 – EMG signal of Tibialis Anterior

from scipy.signal import butter, lfilter, freqz

# In[12]:
def butter_bandpass(lowcut, highcut, fs, order=4):
return butter(order, [lowcut, highcut], fs=fs, btype=‟band‟,
analog=False)
def butter_bandpass_filter(emg_TA,lowcut, highcut, fs, order=4):
b, a = butter_bandpass(lowcut,highcut, fs, order=order)
y = lfilter(b, a, emg_TA)
return y
# Filter requirements.
Order = 4
fs = 1250 # sample rate, Hz
lowcut = 10 # desired cutoff frequency of the filter, Hz
highcut= 500

51
 # Get the filter coefficients so we can check its frequency response.
B, a = butter_bandpass(lowcut, highcut, fs, order)
# In[15]:
# First make some data to be filtered.
T = 1/1259.2593 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# In[16]:
# Filter the data, and plot both the original and filtered signals.
Filtered_emg_TA = butter_bandpass_filter(emg_TA, lowcut, highcut, fs,
order)
filtered_emg_TA
# In[17]:
plt.figure(figsize=(16,5))
plt.plot(time,filtered_emg_TA)
font = {„weight‟ : „bold‟, „size‟ : 13}
plt.title(“FILTERED EMG OF TIBIALIS ANTERIOR”, **font)
plt.xlabel(“TIME”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.2 – Filtered EMG of Tibialis Anterior

52
 #EMG DATA
emg_GM=data.iloc[:,1]
#ploting right biceps EMG signal
plt.figure(figsize=(16,5))
plt.plot(time,emg_GM)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“EMG SIGNAL OF GASTROCNEMIUS MEDIALIS “, **font)
plt.xlabel(“TIME”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.3 – EMG signal of Gastrocnemius Medialis

from scipy.signal import butter, lfilter, freqz

# In[12]:
def butter_bandpass(lowcut, highcut, fs, order=10):
return butter(order, [lowcut, highcut], fs=fs, btype=‟band‟,
analog=False)
def butter_bandpass_filter(emg_GM,lowcut, highcut, fs, order=5):
b, a = butter_bandpass(lowcut,highcut, fs, order=order)

53
 y = lfilter(b, a, emg_GM)

return y
# Filter requirements.
Order = 6
fs =2000.0 # sample rate, Hz
lowcut = 10 # desired cutoff frequency of the filter, Hz
highcut= 500
# Get the filter coefficients so we can check its frequency response.
B, a = butter_bandpass(lowcut, highcut, fs, order)
# In[15]:
# First make some data to be filtered.
T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# In[16]:
# Filter the data, and plot both the original and filtered signals.
Filtered_emg_GM = butter_bandpass_filter(emg_GM, lowcut, highcut, fs,
order)
filtered_emg_GM
# In[17]:
plt.figure(figsize=(16,5))
plt.plot(time,filtered_emg_GM)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“FILTERED EMG SIGNAL OF GASTROCNEMIUS
MEDIALIS”, **font)
plt.xlabel(“TIME”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)

54
plt.yticks(fontsize=13,)
plt.show()

Figure 4.4– Filtered EMG signal of Gastrocnemius Medialis

fft_filtered_emg_TA = np.fft.fft(filtered_emg_TA)
plt.figure(figsize=(16,5))
freq = 1/time
plt.plot(freq,fft_filtered_emg_TA)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“ FFT FILTERED EMG OF TIBIALIS ANTERIOR”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.xlim(xmin=0,xmax=700)
plt.ylim(ymin=-7,ymax=7)
plt.show()

Figure 4.5 – FFT Filtered EMG of Tibialis Anterior

55
 fft_filtered_emg_GM = np.fft.fft(filtered_emg_GM)
plt.figure(figsize=(16,5))
plt.plot(fft_filtered_emg_GM, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“ FFT FILTERED EMG OF GASTROCNEMIUS MEDIALIS”,
**font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
# # get the axes object.
# ax=plt.gca()
# # adjust the y axis scale.
# ax.locator_params(„y‟, nbins=5)
# # adjust the x axis scale.
# plt.locator_params(„x‟, nbins=10)
# # show the final figure.
# only show on x-axis.
Plt.xlim(xmin=0,xmax=4112)
# only show 100 – 1600 on y-axis.
Plt.ylim(ymin=-7,ymax=7)
Plt.show()

Figure 4.6 – FFT Filtered EMG of Gastrocnemius Medialis

56
 4.2.2 BACKWARD WALK EMG DATA:
import numpy as np
import matplotlib.pyplot as plt
import pandas as pd
#load and read dataset
data=pd.read_excel(“C:\\Users\\Sri balaji P\\Documents\\TA and GM
BW.xlsx”)
emg_TA=data.iloc[:,0]
#ploting TA EMG signal
plt.figure(figsize=(16,5))
plt.plot(emg_TA,label=‟x-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“EMG SIGNAL OF TIBIALIS ANTERIOR “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.7 – EMG signal of Tibialis Anterior

from scipy.signal import butter, lfilter, freqz

57
 # In[12]:
def butter_bandpass(lowcut, highcut, fs, order=4):
return butter(order, [lowcut, highcut], fs=fs, btype=‟band‟,
analog=False)
def butter_bandpass_filter(emg_TA,lowcut, highcut, fs, order=4):
b, a = butter_bandpass(lowcut,highcut, fs, order=order)
y = lfilter(b, a, emg_TA)
return y
# Filter requirements.
Order = 4
fs = 1250 # sample rate, Hz
lowcut = 10 # desired cutoff frequency of the filter, Hz
highcut= 500
# Get the filter coefficients so we can check its frequency response.
B, a = butter_bandpass(lowcut, highcut, fs, order)
# In[15]:
# First make some data to be filtered.
T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# In[16]:
# Filter the data, and plot both the original and filtered signals.
Filtered_emg_TA = butter_bandpass_filter(emg_TA, lowcut, highcut, fs,
order)
filtered_emg_TA
# In[17]:
plt.figure(figsize=(16,5))
plt.plot(filtered_emg_TA, label=‟X-axis‟)

58
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“FILTERED EMG OF TIBIALIS ANTERIOR”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.8 – Filtered EMG of Tibialis Anterior

#EMG DATA
emg_GM=data.iloc[:,1]
#ploting right biceps EMG signal
plt.figure(figsize=(16,5))
plt.plot(emg_GM,label=‟x-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“EMG SIGNAL OF GASTROCNEMIUS MEDIALIS “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)

59
 plt.show()

Figure 4.9 – EMG Signal of Gastrocnemius medialis

from scipy.signal import butter, lfilter, freqz

# In[12]:
def butter_bandpass(lowcut, highcut, fs, order=10):
return butter(order, [lowcut, highcut], fs=fs, btype=‟band‟,
analog=False)
def butter_bandpass_filter(emg_GM,lowcut, highcut, fs, order=5):
b, a = butter_bandpass(lowcut,highcut, fs, order=order)
y = lfilter(b, a, emg_GM)
return y
# Filter requirements.
Order = 6
fs =2000.0 # sample rate, Hz
lowcut = 10 # desired cutoff frequency of the filter, Hz
highcut= 500
# Get the filter coefficients so we can check its frequency response.
B, a = butter_bandpass(lowcut, highcut, fs, order)
# In[15]:
# First make some data to be filtered.

60
 T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# In[16]:
# Filter the data, and plot both the original and filtered signals.
Filtered_emg_GM = butter_bandpass_filter(emg_GM, lowcut, highcut, fs,
order)
filtered_emg_GM
# In[17]:
plt.figure(figsize=(16,5))
plt.plot(filtered_emg_GM, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“FILTERED EMG SIGNAL OF GASTROCNEMIUS
MEDIALIS”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.10 – Filtered EMG Signal of Gastrocnemius Medialis

61
 fft_filtered_emg_TA = np.fft.fft(filtered_emg_TA)
plt.figure(figsize=(16,5))
plt.plot(fft_filtered_emg_TA, label=‟X-axis‟)
font = {„weight‟ : „bold‟,
„size‟ : 13}
plt.title(“ FFT FILTERED EMG OF TIBIALIS ANTERIOR”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.xlim(xmin=0,xmax=3859)
plt.ylim(ymin=-30,ymax=30)
plt.show()

Figure 4.11 – FFT Filtered EMG of Tibialis anterior

fft_filtered_emg_GM = np.fft.fft(filtered_emg_GM)
plt.figure(figsize=(16,5))
plt.plot(fft_filtered_emg_GM, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“ FFT FILTERED EMG OF GASTROCNEMIUS MEDIALIS”,
**font)

62
plt.xlabel(“No of samples”, **font)

plt.ylabel(“Amplitude”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
# # get the axes object.
# ax=plt.gca()
# # adjust the y axis scale.
# ax.locator_params(„y‟, nbins=5)
# # adjust the x axis scale.
# plt.locator_params(„x‟, nbins=10)
# # show the final figure.
# only show on x-axis.
Plt.xlim(xmin=0,xmax=3859)
# only show 100 – 1600 on y-axis.
Plt.ylim(ymin=-20,ymax=20)
# show the plot.
Plt.show()

Figure 4.12 - FFT Filtered EMG of Gastrocnemius medialis

63
4.2.3 FORWARD WALK IMU DATA
#load and read dataset
data=pd.read_excel(“C:\\Users\\Sri balaji P\\Documents\\TA Acc.xlsx”)
#Acelerometer data
accX_TA = data.iloc[:,0]
accY_TA = data.iloc[:,1]
accZ_TA = data.iloc[:,2]
accX_GM = data.iloc[:,3]
accY_GM = data.iloc[:,4]
accZ_GM = data.iloc[:,5]
accX_TA
accY_TA
accZ_TA
accX_GM
accY_GM
accZ_GM
#pitch
pitch_TA =
np.arctan(accX_TA/(np.square(accY_TA)+np.square(accZ_TA)))
pitch_GM =
np.arctan(accX_GM/(np.square(accY_GM)+np.square(accZ_GM)))
#plotting pitch of Right Flexor Carpi Radialis
plt.figure(figsize=(16,5))
plt.plot(pitch_TA, label=‟X-axis‟)
font = {„weight‟ : „bold‟, „size‟ : 13}
plt.title(“PITCH OF RIGHT TIBIALIS ANTERIOR “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degree”, **font)
plt.xticks(fontsize=13,)

64
plt.yticks(fontsize=13,)
plt.show()
#plotting pitch of Right Biceps
plt.figure(figsize=(16,5))
plt.plot(pitch_GM , label=‟X-axis‟)
font = {„weight‟ : „bold‟, „size‟ : 13}
plt.title(“PITCH OF RIGHT GASTROCNEMIUS MEDIALIS “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degree”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.13 – Pitch of Gastrocnemius medialis

#Low pass filtering
from scipy.signal import butter, lfilter, freqz
def butter_lowpass(cutoff, fs, order=10):
return butter(order, cutoff, fs=fs, btype=‟low‟, analog=False)
def butter_lowpass_filter(pitch_TA, cutoff, fs, order=5):
b, a = butter_lowpass(cutoff, fs, order=order)
y = lfilter(b, a, pitch_TA)
return y
# Filter requirements.
65
 Order = 3
fs = 4000 # sample rate, Hz
cutoff = 12 # desired cutoff frequency of the filter, Hz
# Get the filter coefficients so we can check its frequency response.
B, a = butter_lowpass(cutoff, fs, order)
# First make some data to be filtered.
T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# Filter the data, and plot both the original and filtered signals.
Filtered_pitch_TA = butter_lowpass_filter(pitch_TA, cutoff, fs, order)
filtered_pitch_TA
plt.figure(figsize=(16,5))
plt.plot(filtered_pitch_TA, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“FILTERED PITCH OF RIGHT TIBIALIS ANTERIOR”,
**font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.14 – Filtered pitch of Tibialis anterior

66
 #Low pass filtering
from scipy.signal import butter, lfilter, freqz
def butter_lowpass(cutoff, fs, order=10):
return butter(order, cutoff, fs=fs, btype=‟low‟, analog=False)
def butter_lowpass_filter(pitch_GM, cutoff, fs, order=5):
b, a = butter_lowpass(cutoff, fs, order=order)
y = lfilter(b, a, pitch_GM)
return y
# Filter requirements.
Order = 3
fs = 4000# sample rate, Hz
cutoff = 12 # desired cutoff frequency of the filter, Hz
# Get the filter coefficients so we can check its frequency response.
B, a = butter_lowpass(cutoff, fs, order)
# First make some data to be filtered.
T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# Filter the data, and plot both the original and filtered signals.
Filtered_pitch_GM = butter_lowpass_filter(pitch_GM, cutoff, fs, order)
filtered_pitch_GM
plt.figure(figsize=(16,5))
plt.plot(filtered_pitch_GM, label=‟X-axis‟)
font = {„weight‟ : „bold‟,
„size‟ : 13}
plt.title(“FILTERED PITCH OF RIGHT GASTROCNEMIUS
MEDIALIS”, **font)

67
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.15 – Filtered pitch of Gastrocnemius medialis

#knee angle
knee_angle=filtered_pitch_GM-filtered_pitch_TA
knee_angle
plt.figure(figsize=(16,5))
plt.plot(knee_angle, label=‟X-axis‟)
font = {„weight‟ : „bold‟, „size‟ : 13}
plt.title(“knee angle”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

68
 Figure 4.16 – Knee Angle

4.2.4 BACKWARD WALK IMU DATA

#importing basic libraries
import pandas as pd
import numpy as np
import matplotlib.pyplot as plt
#load and read dataset
data=pd.read_excel(“C:\\Users\\Sri balaji P\\Documents\\TA Acc
Back.xlsx”)
#Acelerometer data
accX_TA = data.iloc[:,0]
accY_TA = data.iloc[:,1]
accZ_TA = data.iloc[:,2]
accX_GM = data.iloc[:,3]
accY_GM = data.iloc[:,4]
accZ_GM = data.iloc[:,5]
accX_TA
accY_TA
accZ_TA
accX_GM

69
 accY_GM
accZ_GM
#pitch
pitch_TA =
np.arctan(accX_TA/(np.square(accY_TA)+np.square(accZ_TA)))
pitch_GM =
np.arctan(accX_GM/(np.square(accY_GM)+np.square(accZ_GM)))
#plotting pitch of Right Flexor Carpi Radialis
plt.figure(figsize=(16,5))
plt.plot(pitch_TA, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“PITCH OF RIGHT TIBIALIS ANTERIOR “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degree”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.17 – Pitch of Tibialis anterior

#plotting pitch
plt.figure(figsize=(16,5))
plt.plot(pitch_GM , label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}

70
plt.title(“PITCH OF RIGHT GASTROCNEMIUS MEDIALIS “, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degree”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.18 – Pitch of Gastrocnemius medialis

#Low pass filtering

from scipy.signal import butter, lfilter, freqz
def butter_lowpass(cutoff, fs, order=10):
return butter(order, cutoff, fs=fs, btype=‟low‟, analog=False)
def butter_lowpass_filter(pitch_TA, cutoff, fs, order=5):
b, a = butter_lowpass(cutoff, fs, order=order)
y = lfilter(b, a, pitch_TA)
return y
# Filter requirements.
Order = 3
fs = 4000 # sample rate, Hz
cutoff = 12 # desired cutoff frequency of the filter, Hz
# Get the filter coefficients so we can check its frequency response.
B, a = butter_lowpass(cutoff, fs, order)

71
 # First make some data to be filtered.

T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# Filter the data, and plot both the original and filtered signals.
Filtered_pitch_TA = butter_lowpass_filter(pitch_TA, cutoff, fs, order)
filtered_pitch_TA
plt.figure(figsize=(16,5))
plt.plot(filtered_pitch_TA, label=‟X-axis‟)
font = {„weight‟ : „bold‟,‟size‟ : 13}
plt.title(“FILTERED PITCH OF RIGHT TIBIALIS ANTERIOR”,
**font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.19 – Pitch of Tibialis anterior

#Low pass filtering

from scipy.signal import butter, lfilter, freqz

72
 def butter_lowpass(cutoff, fs, order=10):
return butter(order, cutoff, fs=fs, btype=‟low‟, analog=False)
def butter_lowpass_filter(pitch_GM, cutoff, fs, order=5):
b, a = butter_lowpass(cutoff, fs, order=order)
y = lfilter(b, a, pitch_GM)
return y
# Filter requirements.
Order = 3
fs = 4000# sample rate, Hz
cutoff = 12 # desired cutoff frequency of the filter, Hz
# Get the filter coefficients so we can check its frequency response.
B, a = butter_lowpass(cutoff, fs, order)
# First make some data to be filtered.
T = 1/148.148 # seconds
n = int(T * fs) # total number of samples
t = np.linspace(0, T, n, endpoint=False)
# Filter the data, and plot both the original and filtered signals.
Filtered_pitch_GM = butter_lowpass_filter(pitch_GM, cutoff, fs, order)
filtered_pitch_GM
plt.figure(figsize=(16,5))
plt.plot(filtered_pitch_GM, label=‟X-axis‟)
font = {„weight‟ : „bold‟,
„size‟ : 13}
plt.title(“FILTERED PITCH OF RIGHT GASTROCNEMIUS
MEDIALIS”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)

73
plt.show()

Figure 4.20 – Filtered pitch of Gastrocnemius lateralis

#knee angle
knee_angle=filtered_pitch_TA-filtered_pitch_GM
knee_angle
plt.figure(figsize=(16,5))
plt.plot(knee_angle, label=‟X-axis‟)
font = {„weight‟ : „bold‟,
„size‟ : 13}
plt.title(“knee angle”, **font)
plt.xlabel(“No of samples”, **font)
plt.ylabel(“degrees”, **font)
plt.xticks(fontsize=13,)
plt.yticks(fontsize=13,)
plt.show()

Figure 4.21 – Knee Angle

74
4.3 ASSIGNMENT 3:
To transmit the signal acquired from flexiforce sensor through wireless
RF transmission.

4.3.1 Flexi force sensor interface with ESP32:

To interface a Flexiforce sensor with an ESP32 microcontroller, you‟ll

need to follow a few key steps. Flexiforce sensors are essentially force-
sensitive resistors that change their resistance based on the applied force.
Here‟s a basic outline of how to interface a Flexiforce sensor with an ESP32:

Materials Required:
1. ESP32 development board (e.g., ESP-WROOM-32)
2. Flexiforce sensor
3. Analog-to-Digital Converter (ADC) pin (ESP32 has multiple)
4. Breadboard and jumper wires

Steps:
 Connect the Flexiforce Sensor:
 Connect one end of the Flexiforce sensor to the 3.3V power supply
on the ESP32.
 Connect the other end of the sensor to a known resistor (e.g., 10k
ohms) forming a voltage divider.
 Connect the junction between the sensor and resistor to one of the
ADC pins on the ESP32 (e.g., GPIO 36).

Code for ESP32:

void setup() {
Serial.begin(115200);
}
void loop() {

75
 int sensorValue = analogRead(A0); // Read the analog value from the
sensor
Serial.println(sensorValue); // Print the sensor value to the serial
monitor
delay(1000); // Add a delay to control the data sampling rate
}
Upload and Monitor:
Upload the code to your ESP32 board.
Open the Arduino Serial Monitor to view the sensor values.

Data Processing:

Process the data as needed for your specific application. You can use
this data to trigger events, send notifications, or control other devices.
Remember that the actual code and wiring might need to be adjusted
depending on the specifics of your Flexiforce sensor and ESP32 board.
Additionally, you can use libraries and advanced signal processing
techniques to filter and interpret the sensor data more effectively.

4.3.2 SOLDERING:

Soldering is a common and essential technique in electronics, metalwork,

and plumbing, used to join two or more metal components together using a
low-melting-point metal alloy called solder. Soldering is used for various
purposes, including creating electrical connections, assembling electronic
circuits, and making watertight joints in plumbing. Here are the basic steps
and key aspects of soldering:

76
4.3.2.1 Materials and Equipment:

 Soldering Iron: A tool with a heated metal tip used to melt the
solder.
 Solder: A low-melting-point metal alloy that flows into the joint
and solidifies when it cools. Common solder types include lead-
based and lead-free solder.
 Flux: A chemical substance applied to the joint to clean the metal
surface, promote solder flow, and prevent oxidation.
 Soldering Stand: To hold the soldering iron when not in use,
preventing accidental burns.
 Safety Gear: Safety glasses and heat-resistant gloves to protect
against solder splatters and hot components.

4.3.2.2 Soldering Steps:

 Preparation: Clean the components you intend to solder. Properly

tinned and clean surfaces are essential for a good solder joint. Use
sandpaper, a wire brush, or a dedicated cleaning agent, if necessary.
 Safety: Put on safety gear to protect yourself from hot solder and
fumes. Ensure good ventilation when soldering.
 Tinning: Tinning involves applying a small amount of solder to the
tip of the soldering iron. This helps with heat transfer and improves
the efficiency of the soldering process.
 Heating: Place the soldering iron tip in contact with the joint area
(usually the component leads or wires). Heat the joint evenly to the
point where the solder will flow when touched to the joint.
 Solder Application: Once the joint is sufficiently heated, touch the

77
 solder to the joint, not the soldering iron itself. The solder will melt
and flow into the joint, forming a solid connection when it cools.
Ensure that the solder flows evenly and covers the entire joint.
 Cooling: Allow the joint to cool naturally without moving it until
the solder has solidified. This ensures a stable connection.
 Inspection: After soldering, inspect the joint for any visual defects
like cold solder joints, which can be reworked if necessary.

4.3.3 RF TRANSMISSION:

RF (Radio Frequency) transmission is the process of sending radio signals

carrying data, voice, or other information through the air using
electromagnetic waves in the radio frequency spectrum. RF transmission is
the foundation of wireless communication systems and technologies.

4.3.3.1 Key Components:

 Transmitter: The transmitter generates the RF signal, typically by

modulating a carrier wave with the information to be transmitted.
 Antenna: The antenna converts the electrical signal into
electromagnetic waves and radiates it into the surrounding space.
 Propagation Medium: The RF signal travels through the air, which
serves as the propagation medium, or through other transmission
media like cables, optical fibers, or waveguides.
 Receiver: At the receiving end, a receiver captures the transmitted
RF signal, demodulates it to extract the original information, and
then processes it accordingly.

4.3.3.2 Applications:

 Wireless Communication: RF transmission is the basis for various

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 wireless communication systems, including cellular networks, Wi-
Fi, Bluetooth, and satellite communication.
 Broadcasting: AM and FM radio broadcasting use RF transmission
to deliver audio signals to a wide audience.
 Television: RF transmission is used for over-the-air television
broadcasting.
 Remote Control: RF transmission is found in remote controls for
devices such as TVs, garage door openers, and drones.
 Wireless Networking: Wi-Fi and other wireless network
technologies use RF transmission to connect devices to the internet.
 Satellite Communication: Satellites use RF signals for long-distance
communication, including television broadcasting and internet
access.

4.3.4 ESP32 WITH RF 433MHz TRANSMITTER AND RECEIVER

We‟ve built a circuit that sends a message from an ESP32 to another

ESP32 using 433 MHz. An ESP will be connected to a 433 MHz transmitter
and will send the “Hello World!” message. The other ESP32 will be
connected to a 433 MHz receiver to receive the messages as shown in the
Figure 4.30. Both the transmitter and receiver are connected by antennas with
the help of soldering.

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 Figure 4.22 – Receiver and Transmitter

4.3.4.1 Parts Required

 2x ESP32
 RF 433MHz Receiver/Transmitter
 Breadboard
 Jumper wires

4.3.4.2 Circuit connection

The circuit connection is given as per the circuit diagram which

is shown in the below Figure 4.31.

Figure 4.23 – Circuit connection

4.3.4.3 Code for transmitter ESP32

#include <RadioHead.h>
#include <RH_ASK.h>
#ifdef RH_HAVE_HARDWARE_SPI
#include <SPI.h> // Not actually used but needed to compile
#endif
RH_ASK driver(2000, 4, 2, 5); // ESP8266 or ESP32: do not use pin 11 or
2
void setup()
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 {
#ifdef RH_HAVE_SERIAL

Serial.begin(115200); // Debugging only

#endif
if (!driver.init())
#ifdef RH_HAVE_SERIAL
Serial.println(“init failed”);
#else;
#endif
}
void loop()
{
const char *msg = “Hello World!”;
driver.send((uint8_t *)msg, strlen(msg));
driver.waitPacketSent();
delay(200);
}

4.3.4.4 Code for receiver ESP32

#include <RadioHead.h>
#include <RadioHead.h>
#include <dummy.h>
#include <RH_ASK.h>
#ifdef RH_HAVE_HARDWARE_SPI
#include <SPI.h> // Not actually used but needed to compile
#endif
RH_ASK driver(2000, 2, 4, 5); // ESP8266 or ESP32: do not use pin 11 or
2
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void setup()
{
#ifdef RH_HAVE_SERIAL
Serial.begin(115200); // Debugging only
#endif
if (!driver.init())
#ifdef RH_HAVE_SERIAL
Serial.println(“init failed”);
#else;
#endif
}
void loop()
{
uint8_t buf[RH_ASK_MAX_MESSAGE_LEN];
uint8_t buflen = sizeof(buf);
if (driver.recv(buf, &buflen)) // Non-blocking
{
int I;
// Message with a good checksum received, dump it.
Driver.printBuffer(“Message received:”, buf, buflen);
}
}

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 Codes are dumped into both the ESPs and the signal is allowed to be
transmitted as shown in Figure 4.32.

Figure 4.24 – Signal transmission

But due to some problem in the receiver and transmitter the signal was not
transmitted.

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 CHAPTER 5
CONCLUSION

I am truly grateful to have attended the internship at the Gait Analysis

Laboratory. It was an enriching experience throughout. I was delved into a
plethora of new concepts and expanded my understanding of the various gait
analysis devices. The practical exposure I gained while learning about the
devices has significantly enhanced my understanding of various technical
aspects and analytical techniques related to the devices.
The opportunity to learn, explore and work with these devices while
acquiring in detail knowledge about them, let me have a clear view about
their working and usage at hospitals, rehabilitation centres, gait analyzing
laboratories and other medical facilities. The experience gained during this
internship is wide and incomparable, and has provided me with insights into
the practical applications of the devices.
I also got a chance to interact and learn from Mrs. Chitra, Mrs. Sonu
thangham and Mrs. Asha who guided and trained me to seek knowledge
about various medical devices and internal circuits. This one month widened
my exposure towards devices and made me think of innovative ideas. I was
provided with hands-on experience with a wide range of instruments and
devices. The working of internal components was explained so well and a
clear view on the internal components was gained. Beyond merely learning
about the devices, I was given an idea about the real-time usage of the
devices for the patients.
As I move forward, I am eager to apply the concepts and skills I‟ve
acquired during this internship to my academics and future career as a
biomedical engineer.

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