Fig. 1
From: Ambulatory assessment of walking balance after stroke using instrumented shoes
Measurement setup. In this study Xsens ForceShoes™ were used, sandals with underneath one inertial measurement unit (IMU, dashed orange square) and one force/moment (FMS, dashed green square) sensor per heel or forefoot segment. Near the IMU in the forefeet an ultrasound transducer (US, dashed red circle) was mounted in each shoe. Kinematic and kinetic data were used to estimate the position of the center of mass (CoM) relative to the position of both feet, the projection of the center of mass on the ground (CoM’-blue circle) within the base of support (BoS) and the extrapolated CoM (XCoM’ - green circle)