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State-of-the-art estimation methods using inertial measurement units (IMUs) for global continuous gait path and local stepwise gait trajectory during walking have been developed. However, estimation methods for continuous gait trajectory integrating both these aspects with high accuracy are almost lacking. Thus, continuous gait trajectory estimation using a single shank-worn IMU with high accuracy is proposed in this study. This method calculates three-dimensional local stepwise gait trajectory based on IMU measurement data extracted between adjacent middle points of stance phases during walking. Continuous gait trajectory is estimated by concatenating adjacent local stepwise gait trajectories based on relative angles determined according to stride vectors and shank orientations. Evaluation experiments results obtained using the optical motion capture system with 12 healthy participants demonstrated estimation errors in the stride length (− 0.027 (− 0.054 to − 0.006) m) and turning angle (0.7 (− 0.2–1.7)°), and normalized endpoint position error (0.029 (0.019–0.04) m). Comparing with previous reports, the proposed method integrally achieves a continuous gait trajectory with a low estimation error level in both local and global aspects despite the continuous measurement of multiple gait cycles. The proposed simple and low-cost method can be applied in the medical field and contribute to expansion of the application of precise gait information in daily life.

Three-dimensional continuous gait trajectory estimation using single Shank-Worn inertial measurement units and clinical walk test application