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. 2022 Jan 25;22(3):908. doi: 10.3390/s22030908

Table A1.

Test–retest results of IMU-based gait assessment in people after stroke.

Reliability Test Retest
ICC (−CI, CI) MDC (SEM) rMDC Mean (STD) Mean (STD)
Left Foot Spatio-Temporal 1. Stride time mean L 0.965 (0.92,0.98) 0.355 (0.128) 0.52 1.767 (0.72) 1.701 (0.64)
2. Stride time std L 0.823 (0.65,0.92) 0.144 (0.052) 1.17 0.168 (0.121) 0.162 (0.126)
3. Stride time norm L 0.798 (0.6,0.9) 0.087 (0.031) 1.26 0.092 (0.06) 0.097 (0.078)
4. Stride dist mean L 0.963 (0.92,0.98) 0.142 (0.051) 0.53 0.71 (0.258) 0.706 (0.271)
5. Stride dist std L 0.835 (0.67,0.92) 0.038 (0.014) 1.12 0.087 (0.034) 0.089 (0.034)
6. KMPH L 0.97 (0.94,0.99) 0.482 (0.174) 0.48 1.659 (0.991) 1.715 (1.016)
7. Cadence L 0.969 (0.93,0.99) 5.829 (2.103) 0.49 38.556 (11.967) 39.37 (11.864)
8. Stride vel mean L 0.952 (0.9,0.98) 0.389 (0.14) 0.61 1.367 (0.638) 1.358 (0.637)
9. Stride vel std L 0.779 (0.56,0.89) 0.312 (0.112) 1.36 0.286 (0.168) 0.347 (0.291)
10. Range acc AP L 0.862 (0.72,0.93) 17.733 (6.398) 1.03 49.86 (16.244) 50.769 (18.121)
11. RMS acc AP L 0.907 (0.81,0.96) 2.323 (0.838) 0.85 5.014 (2.716) 5.201 (2.781)
12. Range acc ML L 0.672 (0.4,0.84) 45.144 (12.288) 44.367 (12.724)
13. RMS acc ML L 0.761 (0.54,0.88) 2.66 (0.96) 1.36 4.024 (1.884) 4.074 (2.041)
14. Range acc VT L 0.758 (0.53,0.88) 22.779 (8.218) 1.37 48.206 (16.406) 47.376 (16.964)
15. RMS acc VT L 0.96 (0.91,0.98) 1.241 (0.448) 0.56 3.652 (2.101) 3.769 (2.342)
16. Range gyr AP L 0.882 (0.76,0.94) 2.98 (1.075) 0.95 7.724 (3.058) 7.982 (3.188)
17. RMS gyr AP L 0.748 (0.52,0.88) 1.15 (0.637) 1.176 (0.658)
18. Range gyr ML L 0.918 (0.83,0.96) 3.114 (1.123) 0.79 9.338 (3.827) 9.423 (4.031)
19. RMS gyr ML L 0.923 (0.84,0.96) 0.688 (0.248) 0.77 1.558 (0.861) 1.605 (0.929)
20. Range gyr VT L 0.928 (0.85,0.97) 1.597 (0.576) 0.74 6.666 (2.183) 6.898 (2.117)
21. RMS gyr VT L 0.94 (0.87,0.97) 0.198 (0.071) 0.68 0.774 (0.28) 0.81 (0.3)
Frequency 22. Dominant peak freq L 0.638 (0.34,0.82) 0.061 (0.035) 0.061 (0.033)
23. Dominant peak width L −0.001 (−0.36,0.36) −3.105 (13.092) 0.575 (0.096)
24. Dominant peak slope L 0.599 (0.29,0.8) 0.001 (0.001) 0.001 (0.001)
25. Dominant peak density L 0.655 (0.37,0.83) 0.189 (0.104) 0.183 (0.093)
Complexity 26. ACOV acc AP L 0.979 (0.94,0.99) 0.074 (0.027) 0.41 0.123 (0.174) 0.141 (0.19)
27. ACOV acc ML L 0.962 (0.92,0.98) 0.026 (0.009) 0.54 0.031 (0.045) 0.035 (0.05)
28. ACOV acc VT L 0.967 (0.92,0.99) 0.07 (0.025) 0.5 0.081 (0.13) 0.096 (0.147)
29. ACOV gyr AP L 0.881 (0.74,0.95) 0.261 (0.094) 0.97 0.219 (0.245) 0.271 (0.297)
30. ACOV gyr ML L 0.977 (0.93,0.99) 1.588 (0.573) 0.42 3.093 (3.592) 3.534 (3.978)
31. ACOV gyr VT L 0.884 (0.76,0.95) 0.612 (0.221) 0.96 0.478 (0.743) 0.435 (0.533)
32. ACOR acc AP L 0.979 (0.94,0.99) 0.074 (0.027) 0.41 0.123 (0.174) 0.141 (0.19)
33. ACOR acc ML L 0.962 (0.92,0.98) 0.026 (0.009) 0.54 0.031 (0.045) 0.035 (0.05)
34. ACOR acc VT L 0.967 (0.92,0.99) 0.07 (0.025) 0.5 0.081 (0.13) 0.096 (0.147)
35. ACOR gyr AP L 0.881 (0.74,0.95) 0.261 (0.094) 0.97 0.219 (0.245) 0.271 (0.297)
36. ACOR gyr ML L 0.977 (0.93,0.99) 1.588 (0.573) 0.42 3.093 (3.592) 3.534 (3.978)
37. ACOR gyr VT L 0.884 (0.76,0.95) 0.612 (0.221) 0.96 0.478 (0.743) 0.435 (0.533)
38. LDE AP L 0.322 (−0.06,0.62) 0.009 (0.002) 0.009 (0.002)
39. LDE ML L 0.587 (0.27,0.79) 0.007 (0.001) 0.007 (0.002)
40. LDE VT L 0.208 (−0.19,0.54) 0.009 (0.002) 0.009 (0.002)
41. ApproxE AP L 0.549 (0.22,0.77) 0.388 (0.118) 0.377 (0.134)
42. ApproxE ML L 0.69 (0.43,0.85) 0.514 (0.151) 0.495 (0.167)
43. ApproxE VT L 0.688 (0.43,0.84) 0.369 (0.11) 0.352 (0.119)
44. SampE AP L 0.698 (0.44,0.85) 0.08 (0.037) 0.077 (0.039)
45. SampE ML L 0.731 (0.49,0.87) 0.15 (0.068) 0.145 (0.083)
46. SampE VT L 0.716 (0.47,0.86) 0.091 (0.041) 0.087 (0.048)
Right Foot Spatio-Temporal 47. Stride time mean R 0.938 (0.86,0.97) 0.469 (0.169) 0.69 1.775 (0.73) 1.69 (0.623)
48. Stride time std R 0.636 (0.35,0.82) 0.184 (0.18) 0.164 (0.108)
49. Stride time norm R 0.686 (0.42,0.84) 0.099 (0.061) 0.099 (0.062)
50. Stride dist mean R 0.956 (0.91,0.98) 0.144 (0.052) 0.58 0.671 (0.233) 0.676 (0.262)
51. Stride dist std R 0.781 (0.57,0.89) 0.073 (0.026) 1.3 0.121 (0.061) 0.119 (0.051)
52. KMPH R 0.963 (0.92,0.98) 0.494 (0.178) 0.53 1.56 (0.881) 1.642 (0.974)
53. Cadence R 0.977 (0.95,0.99) 4.992 (1.801) 0.42 38.407 (11.849) 39.37 (11.833)
54. Stride vel mean R 0.967 (0.93,0.98) 0.289 (0.104) 0.51 1.267 (0.555) 1.28 (0.588)
55. Stride vel std R 0.939 (0.87,0.97) 0.17 (0.061) 0.69 0.327 (0.23) 0.347 (0.264)
56. Range acc AP R 0.9 (0.8,0.95) 17.789 (6.418) 0.88 53.188 (18.792) 54.961 (21.676)
57. RMS acc AP R 0.905 (0.8,0.96) 2.14 (0.772) 0.85 5.061 (2.446) 5.067 (2.562)
58. Range acc MR R 0.8 (0.61,0.9) 20.705 (7.47) 1.24 47.718 (17.953) 49.285 (15.333)
59. RMS acc MR R 0.826 (0.64,0.92) 2.351 (0.848) 1.17 3.692 (1.838) 4.16 (2.19)
60. Range acc VT R 0.936 (0.87,0.97) 18.685 (6.741) 0.7 51.447 (25.79) 51.871 (27.648)
61. RMS acc VT R 0.971 (0.94,0.99) 1.131 (0.408) 0.47 3.78 (2.313) 3.952 (2.487)
62. Range gyr AP R 0.825 (0.65,0.92) 3.707 (1.337) 1.16 7.847 (3.024) 8.398 (3.341)
63. RMS gyr AP R 0.797 (0.61,0.9) 0.812 (0.293) 1.26 1.093 (0.593) 1.21 (0.698)
64. Range gyr MR R 0.907 (0.81,0.96) 3.318 (1.197) 0.85 9.94 (3.742) 9.852 (4.097)
65. RMS gyr MR R 0.863 (0.72,0.94) 0.826 (0.298) 1.03 1.695 (0.774) 1.648 (0.834)
66. Range gyr VT R 0.931 (0.86,0.97) 1.52 (0.548) 0.73 6.285 (2.079) 6.46 (2.079)
Frequency 68. Dominant peak freq R 0.828 (0.65,0.92) 0.053 (0.019) 1.16 0.074 (0.048) 0.065 (0.044)
69. Dominant peak width R −0.006 (−0.32,0.34) 0.609 (0.004) 0.564 (0.108)
70. Dominant peak slope R 0.823 (0.65,0.92) 0.001 (0.0) 1.17 0.001 (0.001) 0.001 (0.001)
71. Dominant peak density R 0.889 (0.77,0.95) 0.117 (0.042) 0.92 0.204 (0.126) 0.193 (0.127)
Complexity 72. ACOV acc AP R 0.98 (0.95,0.99) 0.077 (0.028) 0.39 0.126 (0.187) 0.145 (0.208)
73. ACOV acc MR R 0.933 (0.85,0.97) 0.035 (0.013) 0.72 0.027 (0.045) 0.034 (0.051)
74. ACOV acc VT R 0.985 (0.97,0.99) 0.047 (0.017) 0.34 0.083 (0.133) 0.09 (0.143)
75. ACOV gyr AP R 0.95 (0.89,0.98) 0.234 (0.084) 0.62 0.235 (0.379) 0.279 (0.375)
76. ACOV gyr MR R 0.988 (0.97,0.99) 1.102 (0.398) 0.3 3.081 (3.572) 3.318 (3.703)
77. ACOV gyr VT R 0.916 (0.82,0.96) 0.554 (0.2) 0.8 0.415 (0.663) 0.51 (0.715)
78. ACOR acc AP R 0.98 (0.95,0.99) 0.077 (0.028) 0.39 0.126 (0.187) 0.145 (0.208)
79. ACOR acc MR R 0.933 (0.85,0.97) 0.035 (0.013) 0.72 0.027 (0.045) 0.034 (0.051)
80. ACOR acc VT R 0.985 (0.97,0.99) 0.047 (0.017) 0.34 0.083 (0.133) 0.09 (0.143)
81. ACOR gyr AP R 0.95 (0.89,0.98) 0.234 (0.084) 0.62 0.235 (0.379) 0.279 (0.375)
82. ACOR gyr MR R 0.988 (0.97,0.99) 1.102 (0.398) 0.3 3.081 (3.572) 3.318 (3.703)
83. ACOR gyr VT R 0.916 (0.82,0.96) 0.554 (0.2) 0.8 0.415 (0.663) 0.51 (0.715)
84. LDE AP R 0.487 (0.13,0.73) 0.01 (0.002) 0.01 (0.002)
85. LDE MR R 0.516 (0.19,0.74) 0.007 (0.001) 0.007 (0.002)
86. LDE VT R 0.056 (−0.34,0.43) 0.009 (0.002) 0.009 (0.001)
87. ApproxE AP R 0.441 (0.07,0.7) 0.388 (0.123) 0.389 (0.136)
88. ApproxE MR R 0.344 (−0.04,0.64) 0.53 (0.14) 0.514 (0.159)
89. ApproxE VT R 0.527 (0.19,0.75) 0.366 (0.103) 0.38 (0.114)
90. SampE AP R 0.731 (0.49,0.87) 0.08 (0.042) 0.084 (0.043)
91. SampE MR R 0.611 (0.3,0.8) 0.156 (0.066) 0.154 (0.062)
92. SampE VT R 0.55 (0.22,0.77) 0.095 (0.046) 0.101 (0.044)
Low Back Spatio-Temporal 93. Step time mean B 0.955 (0.9,0.98) 0.197 (0.071) 0.59 0.877 (0.354) 0.846 (0.317)
94. Step time std B 0.698 (0.44,0.85) 0.3 (0.172) 0.257 (0.135)
95. Step time norm B 0.686 (0.42,0.84) 0.395 (0.157) 0.352 (0.161)
96. Range acc AP B 0.922 (0.84,0.96) 0.191 (0.069) 0.78 0.572 (0.245) 0.579 (0.249)
97. Rms acc AP B 0.949 (0.88,0.98) 0.022 (0.008) 0.63 0.093 (0.036) 0.097 (0.035)
98. Range acc ML B 0.845 (0.69,0.93) 0.374 (0.135) 1.11 0.657 (0.283) 0.709 (0.392)
99. Rms acc ML B 0.511 (0.17,0.74) 0.114 (0.026) 0.117 (0.041)
100. Range acc VT B 0.945 (0.88,0.97) 0.253 (0.091) 0.65 0.755 (0.362) 0.763 (0.416)
101. Rms acc VT B 0.804 (0.61,0.91) 0.023 (0.008) 1.24 0.998 (0.019) 1.002 (0.018)
102. Range gyr AP B 0.972 (0.94,0.99) 0.313 (0.113) 0.46 1.199 (0.646) 1.228 (0.707)
103. Rms gyr AP B 0.972 (0.94,0.99) 0.049 (0.018) 0.46 0.184 (0.1) 0.193 (0.111)
104. Range gyr ML B 0.76 (0.54,0.88) 0.907 (0.327) 1.38 1.527 (0.762) 1.434 (0.556)
105. Rms gyr ML B 0.849 (0.7,0.93) 0.092 (0.033) 1.08 0.227 (0.086) 0.224 (0.085)
106. Range gyr VT B 0.93 (0.85,0.97) 0.629 (0.227) 0.74 1.861 (0.782) 1.929 (0.926)
107. Rms gyr VT B 0.962 (0.92,0.98) 0.087 (0.031) 0.54 0.342 (0.151) 0.356 (0.168)
Frequency 108. Dominant peak freq AP B 0.713 (0.46,0.86) 0.123 (0.055) 0.117 (0.054)
109. Dominant peak width AP B −0.011 (−0.35,0.35) 0.609 (0.005) 0.576 (0.096)
110. Dominant peak slope AP B 0.735 (0.5,0.87) 0.002 (0.001) 0.002 (0.001)
111. Dominant peak density AP B 0.715 (0.46,0.86) 0.356 (0.152) 0.356 (0.173)
112. HR AP B 0.847 (0.69,0.93) 1.162 (0.419) 1.09 1.418 (1.034) 1.497 (1.105)
113. IH AP B 0.456 (0.09,0.71) 0.586 (0.089) 0.588 (0.125)
114. Dominant peak freq ML B 0.657 (0.26,0.85) 0.125 (0.052) 0.101 (0.043)
115. Dominant peak width ML B −0.0 (−0.37,0.37) 0.608 (0.008) −1.276 (9.436)
116. Dominant peak slope ML B 0.657 (0.23,0.85) 0.002 (0.001) 0.002 (0.001)
117. Dominant peak density ML B 0.771 (0.56,0.89) 0.192 (0.069) 1.34 0.344 (0.139) 0.311 (0.148)
118. HR ML B 0.86 (0.66,0.94) 0.63 (0.227) 1.06 1.824 (0.678) 1.662 (0.515)
119. IH ML B 0.809 (0.61,0.91) 0.16 (0.058) 1.22 0.474 (0.136) 0.442 (0.126)
120. Dominant peak freq VT B 0.584 (0.27,0.79) 0.104 (0.053) 0.097 (0.052)
121. Dominant peak width VT B 0.004 (−0.33,0.36) 0.609 (0.004) 0.575 (0.096)
122. Dominant peak slope VT B 0.614 (0.31,0.8) 0.002 (0.001) 0.002 (0.001)
123. Dominant peak density VT B 0.616 (0.31,0.81) 0.306 (0.156) 0.301 (0.167)
124. HR VT B 0.931 (0.86,0.97) 0.732 (0.264) 0.73 1.768 (0.999) 1.794 (1.018)
Complexity 126. ACOV acc AP B 0.986 (0.97,0.99) 0.004 (0.002) 0.33 0.007 (0.013) 0.008 (0.014)
127. ACOV acc ML B 0.963 (0.91,0.98) 0.001 (0.001) 0.53 0.003 (0.003) 0.004 (0.003)
128. ACOV acc VT B 0.952 (0.9,0.98) 0.004 (0.001) 0.61 0.007 (0.006) 0.007 (0.007)
129. ACOV gyr AP B 0.978 (0.95,0.99) 0.043 (0.016) 0.42 0.091 (0.098) 0.099 (0.109)
130. ACOV gyr ML B 0.901 (0.8,0.95) 0.026 (0.009) 0.87 0.034 (0.028) 0.037 (0.031)
131. ACOV gyr VT B 0.948 (0.87,0.98) 0.03 (0.011) 0.63 0.031 (0.043) 0.038 (0.051)
132. ACOR acc AP B 0.986 (0.97,0.99) 0.004 (0.002) 0.33 0.007 (0.013) 0.008 (0.014)
133. ACOR acc ML B 0.963 (0.91,0.98) 0.001 (0.001) 0.53 0.003 (0.003) 0.004 (0.003)
134. ACOR acc VT B 0.952 (0.9,0.98) 0.004 (0.001) 0.61 0.007 (0.006) 0.007 (0.007)
135. ACOR gyr AP B 0.978 (0.95,0.99) 0.043 (0.016) 0.42 0.091 (0.098) 0.099 (0.109)
136. ACOR gyr ML B 0.901 (0.8,0.95) 0.026 (0.009) 0.87 0.034 (0.028) 0.037 (0.031)
137. ACOR gyr VT B 0.948 (0.87,0.98) 0.03 (0.011) 0.63 0.031 (0.043) 0.038 (0.051)
138. LDE AP B 0.612 (0.3,0.8) 0.014 (0.001) 0.014 (0.001)
139. LDE ML B 0.589 (0.28,0.79) 0.014 (0.001) 0.014 (0.001)
140. LDE VT B 0.205 (−0.2,0.54) 0.014 (0.001) 0.014 (0.001)
141. ApproxE AP B 0.124 (−0.24,0.47) 0.61 (0.146) 0.554 (0.148)
142. ApproxE ML B 0.716 (0.46,0.86) 0.606 (0.137) 0.563 (0.16)
143. ApproxE VT B 0.373 (0.02,0.65) 0.51 (0.155) 0.458 (0.156)
144. SampE AP B 0.118 (−0.25,0.46) 0.474 (0.179) 0.41 (0.165)
145. SampE ML B 0.692 (0.41,0.85) 0.488 (0.158) 0.431 (0.181)
146. SampE VT B 0.208 (−0.16,0.53) 0.363 (0.157) 0.308 (0.131)
Asymmetry Spatio-Temporal 147. SR Swing/stand 0.982 (0.96,0.99) 1.217 (0.439) 0.37 2.234 (3.429) 2.173 (3.116)
148. SR standphasess 0.753 (0.53,0.88) 0.278 (0.1) 1.39 0.902 (0.224) 0.904 (0.178)
149. SR swingphases 0.54 (0.21,0.76) 1.278 (0.725) 1.166 (0.291)
150. SI Swing/stand 0.967 (0.93,0.98) 92.302 (33.3) 0.5 169.709 (179.456) 164.206 (186.235)
151. SI standphases 0.948 (0.89,0.98) 0.435 (0.157) 0.63 1.351 (0.677) 1.395 (0.703)
152. SI swingphases 0.866 (0.73,0.94) 0.422 (0.152) 1.02 1.402 (0.454) 1.405 (0.373)
153. GA Swing/stand 0.939 (0.87,0.97) 51.278 (18.499) 0.69 35.903 (73.448) 34.233 (75.94)
154. GA standphases 0.644 (0.36,0.82) −14.808 (33.798) −12.298 (21.988)
155. GA swingphases 0.756 (0.54,0.88) 40.972 (14.781) 1.4 16.052 (35.568) 12.617 (22.82)
156. SA Swing/stand 0.897 (0.79,0.95) 0.002 (0.001) 0.89 0.49 (0.003) 0.49 (0.003)
157. SA standphases 0.719 (0.47,0.86) 0.492 (0.002) 0.492 (0.001)
158. SA swingphases 0.819 (0.64,0.91) 0.002 (0.001) 1.19 0.49 (0.002) 0.491 (0.001)
159. Peak amp mean B: L/R 0.684 (0.42,0.84) 0.141 (0.084) 0.13 (0.068)
160. Peak amp std B: L/R 0.244 (−0.14,0.57) 0.989 (0.096) 1.012 (0.108)
161. Peak amp mean L/R 0.478 (0.14,0.72) 0.536 (1.786) −0.194 (2.005)
162. Peak amp std L/R 0.654 (0.38,0.83) 0.577 (0.249) 0.653 (0.305)
163. Total Dist norm 0.967 (0.93,0.98) 0.093 (0.033) 0.51 0.311 (0.178) 0.323 (0.189)
164. Cadence norm 0.976 (0.95,0.99) 0.031 (0.011) 0.43 0.224 (0.071) 0.229 (0.07)
165. Stride dist mean norm 0.964 (0.92,0.98) 0.133 (0.048) 0.52 0.69 (0.244) 0.691 (0.266)
166. Stride time mean norm 0.956 (0.9,0.98) 0.047 (0.017) 0.59 0.209 (0.084) 0.202 (0.075)

The MDC and rMDC are only reported for variables with an ICC > 0.75. Abbreviations: L = Left foot; R = Right foot; B = low back; Gyr = Gyroscope; Acc = Acceleration; Dist = Distance; KMPH = kilometres per hour; Vel = Velocity; DF = Dominant Frequency; LDE = local divergence exponent; ApproxE = Approximate entropy; SampleE = Sample entropy; std = Standard deviation; rms = Root Mean Square; AP = Anterior–posterior; ML = Medio-lateral; VT = Vertical; ACOV = Autocovariance; ACOR = Autocorrelation; HR = Harmonic ratio; IH = Index of harmonicity; SR = Symmetry ratio; SI = Symmetry index; GA = Gait asymmetry; SA= Symmetry Angle; Amp = Amplitude; Norm = Normalised.