510 PROJECT Nhlanhla Nkomo 201604681

DESIGN AND IMPLEMENTATION OF A
GAIT ANALYSIS DEVICE
NHLANHLA NKOMO
201604681
DEPARTMENT OF ELECTRICAL ENGINEERING

FACULTY OF ENGINEERING AND TECHNOLOGY
UNIVERSITY OF BOTSWANA
A report submitted in partial fulfilment of the requirements for degree of

Bachelor of Engineering
NOVEMBER 2019

DECLARATION
The writing of this proposal report is entirely the work of the student Nhlanhla Nkomo of
student ID 201604681. All the quotations used, and sources consulted have been duly
acknowledged.
Completion date………………………... Signature……………………..

Design and Implementation of a Gait analysis Device – Nhlanhla Nkomo - November
ABSTRACT
Patients with gait problems are increasing in population and many of them are subjected to
surgeries and post-surgery rehabilitation. The patients are normally required by physical
therapist to perform specific tests to assess and monitor their status. Such assessments require
a special environment like a laboratory and expensive equipment to perform. This project
presents a device for clinical gait assessment using sensor-based instrumentation technology
to identify health risk factors and monitor medical treatments. The device will process
sensory data to perform a functional gait assessment test by calculating and comparing the
measured gait values to parameters studied in normal individuals and clinical reports. The
system will therefore be objective because it is based on measurements, cheap and does not
require special setup like a laboratory for patients’ assessment.
ACKNOWLEDGEMENT
I would like to express my special thanks of gratitude to my project supervisor (Mr.
Motshidisi) for the golden opportunity to do this project and for his exceptional support and
guidance in writing this report.
I would also like to thank my friends and colleagues whom contributed with their time and
knowledge to improve quality of this project.
Finally, special thanks to my family for their ongoing support and love in making this work a
success within the limited timeframe
Chapter 1: Introduction
LIST OF FIGURES
Figure 1: Kinect sensor setup for data collection
Figure 2: pressure sensors embedded on a pathway
Figure 3: stride length and step length for normal gait
Figure 4: Block diagram for the proposed system
Figure 5: circuit design of the proposed system
Figure 6: schematic drawing of the proposed system
Figure 7- MPU 6050 accelerometer and gyroscope
Figure 8- 2.2’ bend sensor
Figure 9: Piezoelectric voltage proportional to the applied force.
Figure 10: Arduino mega connected to a Bluetooth module
Figure 11: flow charts for data collection
Figure 12: flowchart for footwear gait analysis.
Figure 13: analytic flowchart for Rehab application
Figure 14: android application interface
Figure 15: pressure sensor positions
LIST OF ABBREVIATIONS
ABBREVIATION MEANING
KFA Knee flexion Angle
CoP Centre of Pressure
SRL Stride Length
STL Step Length
LSRL Left Stride Length
RSRL Right Stride Length
LSTL Left Step Length
RSTL Right Stride Length
APPENDICES
Appendix A: - Bill of quantities
Nhlanhla Nkomo – November 2019

INTRODUCTION
Gait observation is a significant procedure for medical diagnosis and therapy, in aspect of
evaluating and improving gait abnormalities. Gait in humans refers to a sequence of foot
movement in forward propulsion.[1] This foot movements may be very irregular,
unstable and gets impaired as age increases. A normal gait should be stable and flexible
to allow changes in speed and movements in different geographical areas. To analyze a
certain gait pattern, we compare it to parameters studied in normal individuals and
clinical reports with respect to age and gender. Gait parameters are features that are
captured while walking and running and can reflect health status and functioning
abilities[2]. Assessment of gait parameters especially in the daily life has recently
become an important issue in the field of health monitoring.
Gait analysis in this project will be conducted through the design of a wearable sensor-
based instrumentation device to determine gait parameters such as step length, cadence,
velocity, etc. relating to motional activities. This device will be able to support clinical
diagnostics and monitor medical treatments. The gait device developed in this project
will be an alternative to the existing commercial camera-based system. One of the
existing systems uses a 3D camera to track motion with a high accuracy.[3] Such a
system is expensive and requires a complex time-consuming preparation of the subject.
The system also requires a special laboratory environment for gait performance analysis
and therefore is not suitable for small clinical setting. In the proposed project, no special
room will be required, and the system is based on sensors and microcontrollers that are
cheaper that the existing systems. The analog data collected by the sensors will be
transmitted through a Bluetooth module to a smartphone for data analysis.
1.1 Problem Statement

Gait analysis is an important medical diagnostic process in rehabilitation and very useful
for footwear recommendations in shoe shops. A general gait analysis is visual
observation as a person walk. This method of evaluation is not precise and lacks
important data on other gait parameters such as stride length, step time, cadence etc.
There are technologies developed for gait analysis, however limitations exist due to
expertise required, extremely expensive equipment, and time. It is therefore for this

reasons that this project is aimed at designing and implementing an affordable, portable
and wearable gait analysis device to actively collect, monitor and analyze different
walking postures at any geographical setting.
1.2 Motivation
Despite an increase in the development of health monitoring and rehabilitation
technologies in use, most of them are unable to provide a solution to detect gait. This
project focuses on helping people suffering from injuries, illnesses and disorders to
recover and improve their health. This project will provide data to physical therapist, so
they can assess, monitor and track progress of people having gait related problems. The
proposed device will also be a useful tool in shoe shops for helping customers with
finding the right pair of shoes by analyzing their body mechanics. All patients with
conditions affecting their gait will benefit from this proposed project regardless of age,
gender, degree of functioning. However, this device, like any other sensor-based
monitoring systems is exposed to sensor noise and interference common to wireless
technologies. There are some methods used to eliminate this noise depending on the
environment of operations.
1.3 Project Objectives

The overall aim of this project proposal is to study different gait parameters and to detect
gait disturbances in patients through the design and implementation of a gait analysis
device that will actively respond to every movement of the patient.
The objectives are:
 1.To review and understand the existing systems in gait analysis.
 2.To develop an android application software for data collection and analysis.
 3.To design and develop circuits for the proposed gait analysis device
 4.To test and evaluate the proposed gait analysis device.

1.4 Organization
The remaining part of this project report are organized as follows. The literature survey in
chapter 2 presents background information on the existing methods and their drawbacks.
Chapter 3 explains the methods and tools proposed in this project and the design and
implementation including the algorithms and modules that are part of the system. In
chapter 4, the project management plans are explained in the form of Gantt charts. The
final chapter concludes the proposed work and provides the guidance for future plan

Chapter 2: Literature Review
2. LITERATURE REVIEW
Generally, detection of foot patterns in physical therapy is important in the diagnosis and
treatment of gait issues. Gait analysis methods are now based on different technologies
and tools to measure information of various gait parameters. These technologies can be
grouped into image processing, smart floor sensors and wearable sensors[4].
2.1. Image Processing

A typical system uses a Kinect sensor to estimate the position of a subject during a
straight-line walking and automatically calculate parameters such as joint angles, swing
and stance phase. The position data of both feet are exploited to calculate the change in
distance between both feet. A Kinect sensor is a Microsoft advanced sensor to achieve
high performance 3D image capture[5]. The Kinect device is placed at 45° to the walking
pathway at a 1.3m from the ground.
Figure 1: Kinect sensor setup for data collection
The sensor is connected to a compiler with an installed Kinect software development

kit. Information collected from the sensor is plotted on a Microsoft visual studio. This
method needs special setup and active line-of-sight for the Kinect camera and for
quicker movements, accuracy decreases because of sampling rate.
2.2. Smart Floor Sensors

In the existing systems, pressure sensors are mounted on a force plate along the
pathway to continuously collect data as the subject performs the walking trials[6].
The pressure sensors used, the flexiforce sensor, detects and measures applied

pressure and output a pressure value equivalent to the applied force. A custom-built
computer hardware is used to collect data from the pressure sensor. The system is
also interfaced with a Kinect sensor to cross validate the data collected by the
pressure sensors[7]. The Kinect sensor records different foot patterns during walking
trials. Although this method is precise, it is very expensive to integrate multiple
sensors on floor to measure the gait parameters.
Figure 2: pressure sensors embedded on a pathway
2.3. Wearable Sensors

In the method proposed by [8], two flex sensors are mounted on a supportive cloth to
measure the angle at the knee. When the knee bends, the flex sensor at a knee joint
will directly measure the change in resistance which is proportional to the angle {}.
In contrast to the methods above, more studies related to the proposed methods have
been reviewed to ensure that the project objectives are achieved. A relative study by
Stacy J [9] uses four piezoelectric sensors in the shoe-sole interfaced with an
Arduino, Bluetooth module, a power unit and a smart phone for analysis. In their
study, an Arduino is programmed to read an analog signal from the shoe sensor and
transmits the data through Bluetooth module to the smartphone. The smartphone is
installed with an android application that is integrated with a smart shoe through
Bluetooth communication.
[10] also presented a method of using a bidirectional flex sensor to analyze plantar
flexion during gait. Two bend sensors are placed back to back and a differential
amplifier is implemented to combine the individual outputs into 1 output. One sensor

is placed at the back of the heel to evaluate planter flexion and the other is used to
measure flexion at the metatarsal-phalangeal joint.
A study by Saragiotto and Lopes[11] stressed the popular belief among recreational
runners that wearing sneakers that does not match with your gait is one of the main
injury risk factor.
Explained that by understanding your level of pronation, it’s much easier to figure out
which shoe matches with your gait. Pronation is the side to side movement of the foot
as you walk[12]. There are three types of pronation;
Neutral pronation: The outer heel contacts the ground first before the rest of
the foot comes into contact and take off from both toes. Shoes that are more
flexible and offer cushion in the heel are recommended.
Overpronation: Only the inside of the foot is in contact with the ground and
take off is achieved through the larger toe. Shoes which add an extra support
on the outer edge of the shoe are recommended.
Underpronation: Only the outer foot contacts the ground pushing off from
the smaller toes. Shoes which add an extra support on the outer edge of the
shoe are recommended
In addition to information gathered, online clinical reports have been consulted to

gain information on normal gait parameters for analysis and these parameters are
explained below,
Step Length
It is the distance between corresponding successive points of heel contacts of the

opposite feet. If the gait is normal, the right step length is equal to the left step length.
According to the university of Lowa [14] the average person’s walking step length is
30 inches.

Figure 3: stride length and step length for normal gait
Stride Length
This is the distance between successive points of heel contact of the same foot. In
normal gait, this is equal to double the step length, that is, the average length is 60
inches [14].
Cadence
This is basically how often a step is taken in a walking interval, measured in steps per
minute. According to [15], a person’s average cadence is around 115 steps/mins.
Walking Speed
This is the displacement from initial position to a new position over time taken. The
average walking speed of a human is 3-4 miles per hour.[15]
Knee Flexion Angle (KFA)
It is the angle formed at a knee joint during walking or running activities. For normal
gait, the average KFA should be ±60° [16].
Centre of Pressure (CoP)
This parameter represents the amount of pressure distributed on the foot during
walking, from the heel to the toes.

Chapter 3: Methodology
3. METHODS AND ALGORITHM

A patient will be required to perform walking trials with the microcontroller attached to
the hip and a hook and loop tape will be used to secure the device and make sure it does
not move and fix at its location. The sensors will be interfaced with a microcontroller. An
application installed on a smartphone will analyze the acquired gait information from the
microcontroller through Bluetooth communication and compute significant information
in real-time. The proposed real-time information is used to determine the step length,
stride length, cadence, walking speed, centre of pressure and knee flexion angle. For gait
analysis, we will compare a person’s gait pattern to parameters studied in normal
individuals and medical report.
Bluetooth
module (HC-05) Smartphone
Data collection Data analysis
Sensors Microcontroller
(MPU 6050 (Arduino Uno)
& Battery
piezoelectric
sensor)
BEND
Figure 4: Block diagram for the proposed system

Figure 5: circuit design of the proposed system
Figure 6: schematic drawing of the proposed system

3.1. DATA ACQUISITITION

The system will collect sensory data for relevant gait parameters. Low power consumption
sensors are utilized to reduce the charging frequency of the system. A wireless transmission
of the collected data is established through a Bluetooth module to avoid the potential threat to
the confidentiality of individual health status regarding the rehabilitation program.
3.1.1. MPU 6050 SENSOR

The MPU-6050 is a 3-axis gyroscope with accelerometer and will be used to measure
the angle at the knee of a patient. The accelerometer can measure the static and
dynamic acceleration. It can detect the position data of both feet and change in
distance between both feet. The gyroscope is able to measure change in angle{}.
Figure 7: MPU 6050 accelerometer and gyroscope
The bend or flex sensor can also be used instead of the MPU 6050 sensor, but it tends
to drift over time as the error accumulates. It also records a lot of noise which needs
to be filtered before the data can be used. The bend sensor measures the amount of
bending or deflection. Bend sensor is basically a variable resistor with its resistance
proportional to the angle of bend[13].
Figure 8: 2.2’ bend sensor

The sensors will be placed at a knee joint to measure the knee reflection angle (KFA)
of a patient. During walking or running activities, an angle is created at a joint and
this angle will be detected by the sensor and sent to the microcontroller.
3.1.2. Piezoelectric Sensor

Pressure sensors will be used to check for balance disorders by measuring the
pressure points of a human body while walking. Piezoelectric sensors will be
implemented on this project because they are easy to use, have low output noise and a
large measuring range. Piezoelectric sensors convert the mechanical stress into an
electrical signal and the output voltage is proportional to the applied pressure. When a
force is applied on the pressure port, that force will be collected on the force summing
member. A potential difference will be generated proportional to the collected force
on the summing member.[14]
Figure 9- Piezoelectric voltage proportional to the applied force.
The sensors will be placed under the insole and output wires connected to the
microcontroller. The piezoelectric sensors will also be used to measure the step frequency
which will be used by the microcontroller to estimate the travel distance on a single stride
based on the height of the patient. This distance can be expressed as
Stride length =K∗h∗√ fs (m)………………………… (1)
Where; K is a predetermined constant (0.414)
H is the patient’s height
Fs is the step frequency

Other gait parameters such as cadence, step length and speed/velocity will be calculated
using the formulas below;
SL
steplength= (m)………………………... (2)
2
steps taken
cadence= (S/m) ………………... (3)
60
total distance travelled

speed= ………………. (4)
time taken
An alternative sensor for measuring the centre of pressure is the force- sensitive resistor
(FSR). It is a flexible printed circuit and very thin and cheap but less precise compared to
piezoelectric sensor.
3.1.3. Microcontroller
The proposed microcontroller for this system will be an Arduino Mega 2560. The
Mega 2560 has been adopted because of its ability to integrate multiple analog inputs,
it has 16 analog pins. This microcontroller is relatively cheap, and the software uses a
standard programming language and can be run on windows. The output signals from
the bend sensor and piezoelectric sensor will be connected to the analog inputs on the
Arduino board.
Figure 10- Arduino mega connected to a Bluetooth module
The Arduino nano board will also be considered during implementation because of its
desirable small size which makes prototyping very easy and can be attached to any

subject without any disturbances. However, the nano board has limited analog pins
which means two boards are required to accommodate multiply analog data from the
pressure sensors, hence implementation will be expensive. The Arduino will also be
interfaced with a Bluetooth communication module to provide wireless connectivity
between the Arduino and the smartphone. The HC-05 Bluetooth module is selected
due to low-cost and is very compatible with the Arduino board. Data from the sensors
will be manipulated by the Arduino c++ program and results transmitted to the
smartphone for visualization.
3.1.4. System’s Algorithm

The algorithms explained in this section is based on collecting and computing the
average gait parameters using the step frequency fsmeasured by the piezoelectric
sensor while walking and the KFA measured by the MPU 6050 sensor. Average
values are used to minimize the occurrence of errors from the piezoelectric sensor.

(a) (b)
Figure 11: data collection flowcharts, a) calculate parameters
using pressure sensors data and b) calculating the knee flexion
angle

3.2. DATA ANALYSIS

This project presents algorithms for two major areas of application, Rehabilitation
applications and footwear recommendation. For both applications, we provide a
concrete analysis method by comparing the measured parameters to what has been
outlined in reviews by {}{}{}. Data analysis will be conducted by the smartphone
using the algorithms explained in this section.
The proposed system will additionally be used to select gait matching footwear in a
shoe store by detecting the pronation of a client. The client is required to perform
walking trials and the proposed device with pressure sensors embedded on a shoe
insole is used for data collection. After all relevant information is collected within the
set threshold of 15 steps, the system will use the algorithm below to analyze the data
in terms of different pronations studied in the literature survey.
Where A represents analog

inputs from different positions
of pressure sensors;
A0 = is at the heel point
A1= 1st metatarsal head
A2= 2nd metatarsal head
A3= 5th metatarsal head
Figure 12: flowchart for footwear gait analysis.

Under the Rehab application, the data collected by sensors will be evaluated. The system is
programmed to detect abnormalities in patients using the algorithm below in real time. If all
the gait parameters have not recovered, then the patient continues with the Rehab program,
otherwise the patient will be fully recovered and discharged from the Rehab program.
Figure 13: analytic flowchart for Rehab application

3.2.1. Application Software Design

The smartphone application software will be developed by an MIT App Inventor.
MIT app inventor is a free and open source web application that provides visual
programming environment that allows everyone to build fully functional apps for
smartphones and tablets. It uses a graphical user interface (GUI) very similar to
programming languages like scratch which allows users to drag and drop visual
objects to create an application that can run on mobile devices. App inventor also
supports the use of Microsoft office tools like excel and database to store and retrieve
data. Below is an interface of the proposed smartphone application.
Figure 14: android application interface

3.1 Sensor Setup

Piezoelectric sensor
There will be five (5) piezoelectric sensor as explained in the above chapter. The four
(4) are placed in the undeath the insole, corresponding to the position of the heel,
medial 1st metatarsal, medial 5th metatarsal and the toe. The 5th sensor will be placed
in a suitable position in the insole to be triggered per step and calculate the step
frequency and step counts.
Figure 15: pressure sensor positions

Chapter 4: Project Plan
4. PROJECT PLAN
4.1 Project Deliverables
 Circuit design
 Workplan
 Flowchart and pseudo code
 End of semester report
 Proposal presentation
 Prototype design
 Application Software
4.2 Management Plan

Gantt chart (510)
AUGUST(weeks) SEPTEMBER(weeks) OCTOBER(weeks) NOVEMBER(weeks)

Activity 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Discussion with
the supervisor
Research on the
topic
Component
survey
Proposal
writting
Proposal
review
Submission of
the proposal
Presantation
circuit design
design
simulation
writing final
report
Presantation
preparations

Gantt chart (520)
FEBRUARY(weeks) MARCH(weeks) APRIL(weeks) MAY(weeks)

ACTIVITY 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Discussion with the
supervisor
Ordering of
components
Online build and
simulation
component testing
hardware design
testing and
evalution
Demonstration

Chapter 5: Conclusions
5 CONCLUSION
The project design presents a rehabilitation gait assessment system that intends to help
people who have suffered accidents to restore their condition without the need to spend on
expensive equipment to evaluate gait. The COP from the pressure sensors also facilitate
Rehabilitation assessments and enhance treatment, however that data is also manipulated to
provide information to specialist in shoe shops to recommend a gait matching footwear to
their customers and hence reduce the risks of injuries. The proposed device uses simply and
cheap sensor topology that performs calculations and analysis to help identify related gait
issues. The proposed system performs gait analysis by comparing the measured parameters to
what has been outlined in reviews. The proposed system will be able to provide previous
results for patients and physicians to track progress of such patient at any time. This project
will provide an alternative solution to the existing high-cost and non-mobile solutions.

Chapter 6: Bibliography
6 BIBLIOGRAPHY
[1] Anat Mirelman and Jeffery M. Hausdorff, Handbook of Clinical Neurology, Third
Edition. 2018.
[2] T. Oberg, A. Karsznia, and K. Oberg, “Basic gait parameters : Reference data for
normal subjects, 10-79 years of age,” 1993.
[3] “3D Gait Analysis.” [Online]. Available: http://3dgaitanalysis.com/. [Accessed: 29-

Aug-2019].
[4] “CHAPTER 2 REVIEW OF LITERATURE 2.1 INTRODUCTON and structure-free

methods which directly model.”
[5] “Microsoft Kinect Sensor: buy your Kinect sensor for robotics, for gaming.” [Online].
Available: https://www.generationrobots.com/en/401430-microsoft-kinect-
sensor.html. [Accessed: 04-Sep-2019].
[6] A. Muro-de-la-Herran, B. Garcia-Zapirain, and A. Mendez-Zorrilla, “Gait analysis

methods: an overview of wearable and non-wearable systems, highlighting clinical
applications.,” Sensors (Basel)., vol. 14, no. 2, pp. 3362–94, Feb. 2014.
[7] Kale Moyano and Xavier Binefa, “Human gait characterization using Kinect,” pp. 7–
9, 2014.
[8] W. Tao, T. Liu, R. Zheng, and H. Feng, “Gait Analysis Using Wearable Sensors,”
Sensors, vol. 12, no. 2, pp. 2255–2283, Feb. 2012.
[9] Stacy J. Morris Bamberg, Ari Y. Benbasat, and David E. Krebs, “Gait Analysis using
a Shoe-Integrated Wireless Sensor System,” vol. 12, no. 4, p. 11, 2008.
[10] S. Bamberg, A. Y. Benbasat, D. M. Scarborough, D. E. Krebs, and J. A. Paradiso,

“Gait Analysis Using a Shoe-Integrated Wireless Sensor System,” IEEE Trans. Inf.
Technol. Biomed., vol. 12, no. 4, pp. 413–423, Jul. 2008.
[11] BRUNO TIROTTI SARAGIOTTO and ALEXANDRE DIAS LOPES, “What Do

Recreational Runners Think About Risk Factors For Running Injuries?,” Orthop.

Sport. Phys. Ther., vol. 44, no. 10, 2014.
[12] “What is the impact of gait on running shoe choice? | ASICS.” [Online]. Available:
https://www.asics.com/nl/en-nl/running-advice/what-is-the-impact-of-gait-on-running-
shoe-choice/. [Accessed: 14-Nov-2019].
[13] “Flex Sensor introduction, pinouts and working | Microcontrollers Lab.” [Online].
Available: https://microcontrollerslab.com/flex-sensor-introduction-working/.
[Accessed: 02-Sep-2019].
[14] G. Balbinot, C. P. Schuch, M. A. Zaro, and M. A. Vaz, “Low-cost piezoelectric

footswitch system for measuring temporal parameters during walking,” Int. J. Eng.
Technol., vol. 3, no. 1, p. 75, Feb. 2014.

Chapter 7: Appendices
APPENDICES
Appendix A
BILL OF QUANTITIES
Bill of Quantities/ Schedules of prices
PROJECT: DESIGN AND IMPLEMENTATION OF A GAIT
ANALYSIS DEVICE
UNIVERSITY: UNIVERSITY OF BOTSWANA
DATE: NOVEMBER 2019
IMPLEMENTATION COMPONENTS
ITEM DESCRIPTION UNIT QTY RATE(BWP) AMOUNT(B
WP)
Arduino Mega ATMEGA 2560 1 414.62 414.62
16MHZ 4KB
RAM
MPU 6050 SEN-11028 2 327.03 654.06
sensor 6050MPU
Accelerometer
and Gyroscope
Pressure Piezoelectric 8 8.84 70.72
sensor sensor 6.3 KHz
Power supply AC-DC 12V 2A 1 30.25 30.25
Jumper Wire Jumper Wire 6” 20PCS 21.29 21.29
M/m
Male Header Cold Flash 40x1 20 PCS 103.20 103.20
overall
Arduino Mega Arduino Mega 60x25x75m 1 43.78 43.78
case 2560 case m
Batter Holder 9v PP3 Battery 1 13.41 13.41
Box case + DC
2.1mm Plug
SUBTOTAL BWP1351.33
SHIPPING BUDGET BWP500.00
TOTAL BWP1851.33

510 PROJECT Nhlanhla Nkomo 201604681

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DESIGN AND IMPLEMENTATION OF A

GAIT ANALYSIS DEVICE

DEPARTMENT OF ELECTRICAL ENGINEERING

A report submitted in partial fulfilment of the requirements for degree of

Completion date………………………... Signature……………………..

Nhlanhla Nkomo – November 2019

1.1 Problem Statement

Nhlanhla Nkomo – November 2019

1.3 Project Objectives

Nhlanhla Nkomo – November 2019

Nhlanhla Nkomo – November 2019

2.1. Image Processing

Figure 1: Kinect sensor setup for data collection

The sensor is connected to a compiler with an installed Kinect software development

2.2. Smart Floor Sensors

Nhlanhla Nkomo – November 2019

Figure 2: pressure sensors embedded on a pathway

2.3. Wearable Sensors

Nhlanhla Nkomo – November 2019

In addition to information gathered, online clinical reports have been consulted to

It is the distance between corresponding successive points of heel contacts of the

Nhlanhla Nkomo – November 2019

Figure 3: stride length and step length for normal gait

Knee Flexion Angle (KFA)

Centre of Pressure (CoP)

Nhlanhla Nkomo – November 2019

3. METHODS AND ALGORITHM

Data collection Data analysis

Figure 4: Block diagram for the proposed system

Nhlanhla Nkomo – November 2019

Figure 5: circuit design of the proposed system

Figure 6: schematic drawing of the proposed system

Nhlanhla Nkomo – November 2019

3.1. DATA ACQUISITITION

3.1.1. MPU 6050 SENSOR

Figure 7: MPU 6050 accelerometer and gyroscope

Figure 8: 2.2’ bend sensor

Nhlanhla Nkomo – November 2019

3.1.2. Piezoelectric Sensor

Figure 9- Piezoelectric voltage proportional to the applied force.

Stride length =K∗h∗√ fs (m)………………………… (1)

Where; K is a predetermined constant (0.414)

H is the patient’s height

Fs is the step frequency

Nhlanhla Nkomo – November 2019

total distance travelled

Figure 10- Arduino mega connected to a Bluetooth module

Nhlanhla Nkomo – November 2019

3.1.4. System’s Algorithm

Nhlanhla Nkomo – November 2019

Nhlanhla Nkomo – November 2019

3.2. DATA ANALYSIS

Where A represents analog

Figure 12: flowchart for footwear gait analysis.

Nhlanhla Nkomo – November 2019

Figure 13: analytic flowchart for Rehab application

Nhlanhla Nkomo – November 2019

3.2.1. Application Software Design

Figure 14: android application interface

Nhlanhla Nkomo – November 2019

3.1 Sensor Setup

Figure 15: pressure sensor positions

Nhlanhla Nkomo – November 2019