Sensing and Control Strategies Used in FES Systems Aimed at Assistance and Rehabilitation of Foot Drop: A Systematic Literature Review.

Functional electrical stimulation (FES) is a rehabilitation and assistive technique used for stroke survivors. FES systems mainly consist of sensors, a control algorithm, and a stimulation unit. However, there is a critical need to reassess sensing and control techniques in FES systems to enhance their efficiency. This SLR was carried out following the PRISMA 2020 statement. Four databases (PubMed, Scopus, Web of Science, Wiley Online Library) from 2010 to 2024 were searched using terms related to sensing and control strategies in FES systems. A total of 322 articles were chosen in the first stage, while only 60 of them remained after the final filtering stage. This systematic review mainly focused on sensor techniques and control strategies to deliver FES. The most commonly used sensors reported were inertial measurement units (IMUs), 45% (27); biopotential electrodes, 36.7% (22); vision-based systems, 18.3% (11); and switches, 18.3% (11). The control strategy most reported is closed-loop; however, most of the current commercial FES systems employ open-loop strategies due to their simplicity. Three main factors were identified that should be considered when choosing a sensor for gait-oriented FES systems: wearability, accuracy, and affordability. We believe that the combination of computer vision systems with artificial intelligence-based control algorithms can contribute to the development of minimally invasive and personalized FES systems for the gait rehabilitation of patients with FDS.

Online Handwriting Recognition Method with a Non-Inertial Reference Frame Based on the Measurement of Linear Accelerations and Differential Geometry: An Alternative to Quaternions.

This work describes a mathematical model for handwriting devices without a specific reference surface (SRS). The research was carried out on two hypotheses: the first considers possible circular segments that could be made during execution for the reconstruction of the trace, and the second is the combination of lines and circles. The proposed system has no flat reference surface, since the sensor is inside the pencil that describes the trace, not on the surface as in tablets or cell phones. An inertial sensor was used for the measurements, in this case, a commercial Micro-Electro Mechanical sensor of linear acceleration. The tracking device is an IMU sensor and a processing card that allows inertial measurements of the pen during on-the-fly tracing. It is essential to highlight that the system has a non-inertial reference frame. Comparing the two proposed models shows that it is possible to construct shapes from curved lines and that the patterns obtained are similar to what is recognized; this method provides an alternative to quaternion calculus for poorly specified orientation problems.

Smartpaddle® as a New Monitoring Feature: A Comparison Between Inertial Measurement Unit- and Strain Gauge-Based Devices on Tethered Swimming Forces.

Smartpaddle® is a novel wearable device based on inertial measurement units (IMU) for in-field arm-stroke kinetics and kinematics analysis in swimming. However, the lack of data regarding its agreement and reliability, coupled with restricted access to raw data, emphasizes the need to evaluate it against a well-established strain gauge (SG) reference method for assessing swimming forces. Thus, this study aimed to investigate the agreement and reliability between the Smartpaddle® and strain gauge in a 30-s all-out arms-only tethered swimming test. Twelve trained young adult swimmers performed a test-retest 30-s all-out arms-only tethered swimming trial. Peak and mean forces were obtained from IMU (PFIMU and MFIMU) and SG (PFSG and MFSG) simultaneously. Statistical differences and correlations were found in both peak (PFSG = 158.46 ± 48.85 N, PFIMU = 75.47 ± 12.05 N, p < 0.001, r = 0.88) and mean (MFSG = 69.62 ± 16.36 N, MFIMU = 30.06 ± 5.42 N, p < 0.001, r = 0.84) forces between devices, presenting elevated systematic errors for both variables. No differences were found in IMU data between test-retest conditions in both peak (PFIMU = 75.47 ± 12.05 N, PFIMU = 75.45 ± 11.54 N, p = 0.99, ICC = 0.96) and mean (MFIMU = 30.06 ± 5.42 N, MFIMU = 30.21 ± 5.83 N, p = 0.80, ICC = 0.95) forces, with negligible systematic errors. In conclusion, although the Smartpaddle® device is not directly comparable to the strain gauge reference method, it has demonstrated high reliability levels in test-retest trials.

Spatiotemporal Gait Analysis of Patients with Spinocerebellar Ataxia Types 3 and 10 Using Inertial Measurement Units: A Comparative Study.

Given the high morbidity related to the progression of gait deficits in spinocerebellar ataxias (SCA), there is a growing interest in identifying biomarkers that can guide early diagnosis and rehabilitation. Spatiotemporal parameter (STP) gait analysis using inertial measurement units (IMUs) has been increasingly studied in this context. This study evaluated STP profiles in SCA types 3 and 10, compared them to controls, and correlated them with clinical scales. IMU portable sensors were used to measure STPs under four gait conditions: self-selected pace (SSP), fast pace (FP), fast pace checking-boxes (FPCB), and fast pace with serial seven subtractions (FPS7). Compared to healthy subjects, both SCA groups had higher values for step time, variability, and swing time, with lower values for gait speed, cadence, and step length. We also found a reduction in speed gain capacity in both SCA groups compared to controls and an increase in speed dual-task cost in the SCA10 group. However, there were no significant differences between the SCA groups. Swing time, mean speed, and step length were correlated with disease severity, risk of falling and functionality in both clinical groups. In the SCA3 group, fear of falling was correlated with cadence. In the SCA10 group, results of the Montreal cognitive assessment test were correlated with step time, mean speed, and step length. These results show that individuals with SCA3 and SCA10 present a highly variable, short-stepped, slow gait pattern compared to healthy subjects, and their gait quality worsened with a fast pace and dual-task involvement.

CYCLOPS: A cyclists' orientation data acquisition system using RGB camera and inertial measurement units (IMU).

This paper introduces CYCLOPS, an acquisition system developed to capture images and inertial measurement data of moving cyclists from a vehicle. The development of CYCLOPS addresses the need to acquire useful data for training machine learning models capable of predicting the motion intentions of cyclists on urban roads. Considering its application, it is a completely original development. The system consists of two devices. The first device is installed on the bicycle and is based on an electronic acquisition board comprising an inertial measurement unit (IMU), a microcontroller, and a transceiver for sending the cyclist's acceleration and orientation data to a vehicle. The second device is installed on the vehicle and uses the same board architecture to acquire the vehicle's accelerations and orientations, along with an RGB monocular camera. The data is stored in real-time in a laptop's drive for subsequent analysis and manipulation. The hardware architecture is presented in detail, including the designs to install the devices, for IMUs configuration, and software installation on the laptop. All design and software files required to develop the proposed system are available for download at: doi.org/10.17632/3yx5y8b7tm.1, licensed under the Open-source license CC BY 4.0.

Smartphone-based evaluation of static balance and mobility in long-lasting COVID-19 patients.

Background: SARS-CoV-2 infection can lead to a variety of persistent sequelae, collectively known as long COVID-19. Deficits in postural balance have been reported in patients several months after COVID-19 infection. The purpose of this study was to evaluate the static balance and balance of individuals with long COVID-19 using inertial sensors in smartphones. Methods: A total of 73 participants were included in this study, of which 41 had long COVID-19 and 32 served as controls. All participants in the long COVID-19 group reported physical complaints for at least 7 months after SARS-CoV-2 infection. Participants were evaluated using a built-in inertial sensor of a smartphone attached to the low back, which recorded inertial signals during a static balance and mobility task (timed up and go test). The parameters of static balance and mobility obtained from both groups were compared. Results: The groups were matched for age and BMI. Of the 41 participants in the long COVID-19 group, 22 reported balance impairment and 33 had impaired balance in the Sharpened Romberg test. Static balance assessment revealed that the long COVID-19 group had greater postural instability with both eyes open and closed than the control group. In the TUG test, the long COVID-19 group showed greater acceleration during the sit-to-stand transition compared to the control group. Conclusion: The smartphone was feasible to identify losses in the balance motor control and mobility of patients with long-lasting symptomatic COVID-19 even after several months or years. Attention to the balance impairment experienced by these patients could help prevent falls and improve their quality of life, and the use of the smartphone can expand this monitoring for a broader population.

Validation of a Biomechanical Injury and Disease Assessment Platform Applying an Inertial-Based Biosensor and Axis Vector Computation.

Inertial kinetics and kinematics have substantial influences on human biomechanical function. A new algorithm for Inertial Measurement Unit (IMU)-based motion tracking is presented in this work. The primary aims of this paper are to combine recent developments in improved biosensor technology with mainstream motion-tracking hardware to measure the overall performance of human movement based on joint axis-angle representations of limb rotation. This work describes an alternative approach to representing three-dimensional rotations using a normalized vector around which an identified joint angle defines the overall rotation, rather than a traditional Euler angle approach. Furthermore, IMUs allow for the direct measurement of joint angular velocities, offering the opportunity to increase the accuracy of instantaneous axis of rotation estimations. Although the axis-angle representation requires vector quotient algebra (quaternions) to define rotation, this approach may be preferred for many graphics, vision, and virtual reality software applications. The analytical method was validated with laboratory data gathered from an infant dummy leg's flexion and extension knee movements and applied to a living subject's upper limb movement. The results showed that the novel approach could reasonably handle a simple case and provide a detailed analysis of axis-angle migration. The described algorithm could play a notable role in the biomechanical analysis of human joints and offers a harbinger of IMU-based biosensors that may detect pathological patterns of joint disease and injury.

Development of an Inertial Measurement Unit (IMU) with datalogger and geopositioning for mapping the Earth's magnetic field.

The Earth's magnetic field is used in various navigation systems, but this field has a dynamic behavior that can be affected by different physical factors in local environments. These factors can pose risks to navigation systems and at the same time be a signal of a phenomenon that needs to be investigated, such as mineral concentration or the presence of interference from electrical equipment, among others. For that reason, in this project, this system was designed and integrated using a low-cost, military-grade magnet inductive magnetometer, which is integrated into two Inertial Measurement Units to corroborate the movement data, and at the same time a geopositioning system to georeference the sensor measurements. The information is managed by an MCU, which also stores data on an SD card. The system includes a lithium battery management system to provide more than an hour of autonomy. Wireless communication systems are intentionally avoided to prevent interference, and an infrared transmission LED is included instead, in case the real-time transmission is necessary. The results show that the proposed system allows for obtaining maps of magnetic field intensity in open spaces, and this information can be used to determine regions with anomalies.

Data-Driven Approach for Upper Limb Fatigue Estimation Based on Wearable Sensors.

Muscle fatigue is defined as a reduced ability to maintain maximal strength during voluntary contraction. It is associated with musculoskeletal disorders that affect workers performing repetitive activities, affecting their performance and well-being. Although electromyography remains the gold standard for measuring muscle fatigue, its limitations in long-term work motivate the use of wearable devices. This article proposes a computational model for estimating muscle fatigue using wearable and non-invasive devices, such as Optical Fiber Sensors (OFSs) and Inertial Measurement Units (IMUs) along the subjective Borg scale. Electromyography (EMG) sensors are used to observe their importance in estimating muscle fatigue and comparing performance in different sensor combinations. This study involves 30 subjects performing a repetitive lifting activity with their dominant arm until reaching muscle fatigue. Muscle activity, elbow angles, and angular and linear velocities, among others, are measured to extract multiple features. Different machine learning algorithms obtain a model that estimates three fatigue states (low, moderate and high). Results showed that between the machine learning classifiers, the LightGBM presented an accuracy of 96.2% in the classification task using all of the sensors with 33 features and 95.4% using only OFS and IMU sensors with 13 features. This demonstrates that elbow angles, wrist velocities, acceleration variations, and compensatory neck movements are essential for estimating muscle fatigue. In conclusion, the resulting model can be used to estimate fatigue during heavy lifting in work environments, having the potential to monitor and prevent muscle fatigue during long working shifts.

A hybrid linear discriminant analysis and genetic algorithm to create a linear model of aging when performing motor tasks through inertial sensors positioned on the hand and forearm.

BACKGROUND: During the aging process, cognitive functions and performance of the muscular and neural system show signs of decline, thus making the elderly more susceptible to disease and death. These alterations, which occur with advanced age, affect functional performance in both the lower and upper members, and consequently human motor functions. Objective measurements are important tools to help understand and characterize the dysfunctions and limitations that occur due to neuromuscular changes related to advancing age. Therefore, the objective of this study is to attest to the difference between groups of young and old individuals through manual movements and whether the combination of features can produce a linear correlation concerning the different age groups. METHODS: This study counted on 99 participants, these were divided into 8 groups, which were grouped by age. The data collection was performed using inertial sensors (positioned on the back of the hand and on the back of the forearm). Firstly, the participants were divided into groups of young and elderly to verify if the groups could be distinguished through the features alone. Following this, the features were combined using the linear discriminant analysis (LDA), which gave rise to a singular feature called the LDA-value that aided in verifying the correlation between the different age ranges and the LDA-value. RESULTS: The results demonstrated that 125 features are able to distinguish the difference between the groups of young and elderly individuals. The use of the LDA-value allows for the obtaining of a linear model of the changes that occur with aging in the performance of tasks in line with advancing age, the correlation obtained, using Pearson's coefficient, was 0.86. CONCLUSION: When we compare only the young and elderly groups, the results indicate that there is a difference in the way tasks are performed between young and elderly individuals. When the 8 groups were analyzed, the linear correlation obtained was strong, with the LDA-value being effective in obtaining a linear correlation of the eight groups, demonstrating that although the features alone do not demonstrate gradual changes as a function of age, their combination established these changes.

In-Field Recording of Six Biaxial Angles and Plantar Pressures in Weightlifting through a Wearable System.

Background: Monitoring and evaluation of the techniques used in weightlifting are based on the subjective observation of the coach, which can ignore important aspects of short duration. This study aimed to implement an embedded system to register the angular variation of the hip, knee, and ankle joints, and plantar pressure during training. Methods: Four professional and four amateur athletes performed five snatch lifts. To evaluate the angular measurement, the tests were simultaneously videotaped and the results were contrasted. Results: The angular data presented a correlation coefficient of 0.92 and a delay of 495 ± 200 ms. The characterization of the sensors was implemented in a microcontroller with a mean absolute percentage error of 18.8% in the measurements. When comparing the average results between the elite and amateur groups, the amateur group performed a delayed descent in the first three phases of the lift and an accelerated descent in the fourth phase. A not uniform plantar pressure was registered in the same group, causing a reduction in the final speed of recovery with the barbell. Conclusions: The proposed system has been developed for biaxial angular registration of hip, knee, ankle, and plantar pressure during weightlifting snatch. The option to contrast between signals presented by the system met the requirements requested by the coaching staff and is seen as a promising quantitative analysis tool to support the coach and the athlete.

An Automated Electronic System in a Motorized Wheelchair for Telemonitoring: Mixed Methods Study Based on Internet of Things.

BACKGROUND: Wheelchair positioning systems can prevent postural deficits and pressure injuries. However, a more effective professional follow-up is needed to assess and monitor positioning according to the specificities and clinical conditions of each user. OBJECTIVE: This study aims to present the concept of an electronic system embedded in a motorized wheelchair, based on the Internet of Things (IoT), for automated positioning as part of a study on wheelchairs and telemonitoring. METHODS: We conducted a mixed methods study with a user-centered design approach, interviews with 16 wheelchair users and 66 professionals for the development of system functions, and a formative assessment of 5 participants with descriptive analysis to design system concepts. RESULTS: We presented a new wheelchair system with hardware and software components developed based on coparticipation with singular components in an IoT architecture. In an IoT solution, the incorporation of sensors from the inertial measurement unit was crucial. These sensors were vital for offering alternative methods to monitor and control the tilt and recline functions of a wheelchair. This monitoring and control could be achieved autonomously through a smartphone app. In addition, this capability addressed the requirements of real users. CONCLUSIONS: The technologies presented in this system can benefit telemonitoring and favor real feedback, allowing quality provision of health services to wheelchair users. User-centered development favored development with specific functions to meet the real demands of users. We emphasize the importance of future studies on the correlation between diagnoses and the use of the system in a real environment to help professionals in treatment.

Performance of a Mobile 3D Camera to Evaluate Simulated Pathological Gait in Practical Scenarios.

Three-dimensional (3D) cameras used for gait assessment obviate the need for bodily markers or sensors, making them particularly interesting for clinical applications. Due to their limited field of view, their application has predominantly focused on evaluating gait patterns within short walking distances. However, assessment of gait consistency requires testing over a longer walking distance. The aim of this study is to validate the accuracy for gait assessment of a previously developed method that determines walking spatiotemporal parameters and kinematics measured with a 3D camera mounted on a mobile robot base (ROBOGait). Walking parameters measured with this system were compared with measurements with Xsens IMUs. The experiments were performed on a non-linear corridor of approximately 50 m, resembling the environment of a conventional rehabilitation facility. Eleven individuals exhibiting normal motor function were recruited to walk and to simulate gait patterns representative of common neurological conditions: Cerebral Palsy, Multiple Sclerosis, and Cerebellar Ataxia. Generalized estimating equations were used to determine statistical differences between the measurement systems and between walking conditions. When comparing walking parameters between paired measures of the systems, significant differences were found for eight out of 18 descriptors: range of motion (ROM) of trunk and pelvis tilt, maximum knee flexion in loading response, knee position at toe-off, stride length, step time, cadence; and stance duration. When analyzing how ROBOGait can distinguish simulated pathological gait from physiological gait, a mean accuracy of 70.4%, a sensitivity of 49.3%, and a specificity of 74.4% were found when compared with the Xsens system. The most important gait abnormalities related to the clinical conditions were successfully detected by ROBOGait. The descriptors that best distinguished simulated pathological walking from normal walking in both systems were step width and stride length. This study underscores the promising potential of 3D cameras and encourages exploring their use in clinical gait analysis.

Estimation of Spatio-Temporal Parameters of Gait and Posture of Visually Impaired People Using Wearable Sensors.

In rehabilitating orientation and mobility (O&M) for visually impaired people (VIP), the measurement of spatio-temporal gait and postural parameters is of specific interest for rehabilitators to assess performance and improvements in independent mobility. In the current practice of rehabilitation worldwide, this assessment is carried out in people with estimates made visually. The objective of this research was to propose a simple architecture based on the use of wearable inertial sensors for quantitative estimation of distance traveled, step detection, gait velocity, step length and postural stability. These parameters were calculated using absolute orientation angles. Two different sensing architectures were tested for gait according to a selected biomechanical model. The validation tests included five different walking tasks. There were nine visually impaired volunteers in real-time acquisitions, where the volunteers walked indoor and outdoor distances at different gait velocities in their residences. The ground truth gait characteristics of the volunteers in five walking tasks and an assessment of the natural posture during the walking tasks are also presented in this article. One of the proposed methods was selected for presenting the lowest absolute error of the calculated parameters in all of the traveling experimentations: 45 walking tasks between 7 and 45 m representing a total of 1039 m walked and 2068 steps; the step length measurement was 4.6 ± 6.7 cm with a mean of 56 cm (11.59 Std) and 1.5 ± 1.6 relative error in step count, which compromised the distance traveled and gait velocity measurements, presenting an absolute error of 1.78 ± 1.80 m and 7.1 ± 7.2 cm/s, respectively. The results suggest that the proposed method and its architecture could be used as a tool for assistive technology designed for O&M training to assess gait parameters and/or navigation, and that a sensor placed in the dorsal area is sufficient to detect noticeable postural changes that compromise heading, inclinations and balancing in walking tasks.

Internet of medical things. Measurement of respiratory dynamics using wearable sensors in post-COVID-19 patients.

Nowadays, the measurement of respiratory dynamics is underrated at clinical setting and in the daily life of a subject and it still represents a challenge from a technical and medical point of view. In this article we propose a concept to measure some of its parameters, such as the respiratory rate (RR), using four inertial sensors. Two different experiments were performed to validate the concept. We analyzed the most suitable placement of each sensor to assess those features and we studied the reliability of the system to measure abnormal parameters of respiration (tachypnea, bradypnea and breath holding). Finally, we measured post-COVID-19 patients, some of them with breath alterations after more than a year of the diagnosis. Experimental results showed that the proposed system could be potentially used to measure the respiratory dynamics at clinical setting. Moreover, while RR can be easily calculated by any sensor, other parameters need to be measured with a sensor in a particular position.

Hoy en día, la medición de la dinámica respiratoria está infravalorada en el ámbito clínico y en la vida diaria de un sujeto y sigue representando un reto desde el punto de vista técnico y médico. En este artículo proponemos un concepto para medir algunos de sus parámetros, como la frecuencia respiratoria (FR), utilizando cuatro sensores inerciales. Se realizaron dos experimentos diferentes para validar el concepto. Analizamos la colocación más adecuada de cada sensor para evaluar esas características y estudiamos la fiabilidad del sistema para medir parámetros anormales de la respiración (taquipnea, bradipnea y retención de la respiración). Por último, realizamos mediciones en pacientes post-COVID-19, algunos de ellos con alteraciones respiratorias después de más de un año del diagnóstico. Los resultados experimentales mostraron que el sistema propuesto podría utilizarse potencialmente para medir la dinámica respiratoria en el ámbito clínico. Además, mientras que la FR puede calcularse fácilmente con cualquier sensor, otros parámetros deben medirse con un sensor en una posición determinada.

Inertial Sensors for Hip Arthroplasty Rehabilitation: A Scoping Review.

The objective of this scoping review is to characterize the current panorama of inertia sensors for the rehabilitation of hip arthroplasty. In this context, the most widely used sensors are IMUs, which combine accelerometers and gyroscopes to measure acceleration and angular velocity in three axes. We found that data collected by the IMU sensors are used to analyze and detect any deviation from the normal to measure the position and movement of the hip joint. The main functions of inertial sensors are to measure various aspects of training, such as speed, acceleration, and body orientation. The reviewers extracted the most relevant articles published between 2010 and 2023 in the ACM Digital Library, PubMed, ScienceDirect, Scopus, and Web of Science. In this scoping review, the PRISMA-ScR checklist was used, and a Cohen's kappa coefficient of 0.4866 was applied, implying moderate agreement between reviewers; 23 primary studies were extracted from a total of 681. In the future, it will be an excellent challenge for experts in inertial sensors with medical applications to provide access codes for other researchers, which will be one of the most critical trends in the advancement of applications of portable inertial sensors for biomechanics.

Crucial workload variables in female-male elite Brazilian Beach Handball: An exploratory factor analysis.

This study aimed to identify the most important variables of male and female beach handball workload demands and compare them by sex. A total of 92 elite Brazilian beach handball players (54 male: age 22.1 ± 2.6 years, height 1.8 ± 0.5 m, weight 77.6 ± 13.4 kg; and 38 female: age 24.4 ± 5.5 years, height 1.7 ± 0.5 m, weight 67.5 ± 6.5 kg) were analyzed in 24 official matches during a four-day congested tournament. From 250 variables measured by the inertial measurement unit, fourteen were extracted for analysis using Principal Component Analysis as selection criteria. Five Principal Components (PC) were extracted that explained 81.2-82.8% of total variance (overview of workload demands during beach handball). Specifically, 36.2-39.3% was explained by PC1 (DistanceExpl, Distance, Distance4-7 km/h, and Acc), 15-18% by PC2 (AccMax, Acc3-4 m/s, Dec4-3 m/s), 10.7-12.9% by PC3 (JumpsAvg Take-Off, JumpsAvg Landing and PLRT), 8-9.4% by PC4 (Distance> 18.1 km/h, SpeedMax), and 6.7-7.7% by PC5 (HRAvg and Step Balance). Sex-related differences were found in the PC distribution of variables, as well as in selected variables (HRAvg, Dec4-3 m/s, Acc3-4 m/s, JumpsAvg Take-Off, JumpsAvg Landing, AccMax, Distance, Distance4-7 km/h, Acc, SpeedMax) with higher values in male players (p < .05). In conclusion, the sex-related PC distribution and workload demands in beach handball should consider for training design and injury prevention programs.

Assessment of Passive Upper Limb Stiffness and Its Function in Post-Stroke Individuals Wearing an Inertial Sensor during the Pendulum Test.

This article proposes the evaluation of the passive movement of the affected elbow during the pendulum test in people with stroke and its correlation with the main clinical scales (Modified Ashworth Scale, Motor Activity Log, and Fulg Meyer). An inertial sensor was attached to the forearm of seven subjects, who then passively flexed and extended the elbow. Joint angles and variables that indicate viscoelastic properties, stiffness (K), damping (B), E1 amp, F1 amp, and relaxation indices were collected. The results show that the FM scale is significantly correlated with the natural frequency (p = 0.024). The MAL amount-of-use score correlates with the natural frequency (p = 0.024). The variables E1 amp, F1 amp, RI, and ERI are not correlated with the clinical scales, but they correlate with each other; the variable E1 amp correlates with F1 amp (p = 0.024) and RI (p = 0.024), while F1 amp correlates with ERI (p = 0.024). There was also a correlation between the natural frequency and K (r = 0.96, p = 0.003). Non-linear results were found for the properties of the elbow joint during the pendulum test, which may be due to the presence of neural and non-neural factors. These results may serve as a reference for future studies if alternative scales do not provide an accurate reflection.

Design and Development of a Family of Integrated Devices to Monitor Animal Movement in the Wild.

Monitoring the tortoise Chelonoidis chilensis in the wild, currently in a vulnerable state of conservation in southern Argentina, is essential to gather movement information to elaborate guidelines for the species preservation. We present here the electronic circuit design as well as the associated firmware for animal monitoring that was entirely designed by our interdisciplinary research team to allow the extension of device features in the future. Our development stands out for being a family of low-cost and low-power devices, that could be easily adaptable to other species and contexts. Each device is composed of a sub 1 GHz radiofrequency IoT-compatible transceiver, a global navigation satellite system (GNSS) receiver, a magnetometer, and temperature and inertial sensors. The device does not exceed 5% of the animal's weight to avoid disturbance in their behavior. The board was designed to work as a monitoring device as well as a collecting data station and a tracker, by adding only small pieces of hardware. We performed field measurements to assess the autonomy and range of the radiofrequency link, as well as the power consumption and the associated positioning error. We report those values and discuss the device's limitations and advantages. The weight of the PCB including battery and GNSS receiver is 44.9 g, its dimensions are 48.7 mm × 63.7 mm, and it has an autonomy that can vary between a week and a month, depending on the sampling rates of the sensors and the rate of the RF signal and that of the GNSS receiver. The characterization of the device parameters will favor the open use of this development by other research groups working on similar projects.

Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal.

Nowadays, there are different methods used in the autonomous navigation task; current solutions include inertial navigation systems (INS). However, these systems present drift errors that are attenuated by the integration of absolute reference systems such as GPS, and antennas, among others. Consequently, few works concentrate efforts on developing a methodology to reduce drift errors in INS due to the widespread practice of incorporating absolute references into their systems. However, absolute references must be placed beforehand, which is not always possible. This work presents an improvement on our methodological proposal IKZ for tracking and localization of moving objects by integrating a complementary filter (CF). The main contribution of this paper is the methodological proposal in the integration between IKZ and CF, maintaining the restrictive properties to the drift error and significantly improving the handling characteristics of the system in real applications. Furthermore, the IKZ/CF was tested with raw data from an MPU-9255 in order to analyze the results between tests.