Detecting Heel Strike and toe off Events Using Kinematic Methods and LSTM Models

Abstract:Accurate gait event detection is crucial for gait analysis, rehabilitation, and assistive technology, particularly in exoskeleton control, where precise identification of stance and swing phases is essential. This study evaluated the performance of seven kinematics-based methods and a Long Short-Term Memory (LSTM) model for detecting heel strike and toe-off events across 4363 gait cycles from 588 able-bodied subjects. The results indicated that while the Zeni et al. method achieved the highest accuracy among kinematics-based approaches, other methods exhibited systematic biases or required dataset-specific tuning. The LSTM model performed comparably to Zeni et al., providing a data-driven alternative without systematic bias. These findings highlight the potential of deep learning-based approaches for gait event detection while emphasizing the need for further validation in clinical populations and across diverse gait conditions. Future research will explore the generalizability of these methods in pathological populations, such as individuals with post-stroke conditions and knee osteoarthritis, as well as their robustness across varied gait conditions and data collection settings to enhance their applicability in rehabilitation and exoskeleton control.

Accepted to the IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2026. Best Presentation Award

Robotics (cs.RO)

arXiv:2503.00794 [cs.RO]

(or arXiv:2503.00794v3 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2503.00794 Focus to learn more arXiv-issued DOI via DataCite

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