Wheel Skid Correction is a Prerequisite to Reliably Measure Wheelchair Sports Kinematics Based on Inertial Sensors

Accurate knowledge of wheelchair kinematics during a match could be a significant factor in performance improvement in wheelchair basketball. To date, most systems for measuring wheelchair kinematics are not suitable for match applications or lack detail in key kinematic outcomes. This study describes the construction of wheel skid correction algorithms when using a three inertial measurement unit (IMUs) configuration for estimating wheelchair kinematics. The reliability of the skid corrected outcomes was assessed in wheelchair basketball match-like conditions. Twenty participants performed a series of tests reflecting different motion aspects of wheelchair basketball. IMU based estimations were compared to the outcomes of a 24-camera optical motion analysis system serving as gold standard. Once the skid correction algorithms were applied, estimation errors were reduced up to 4% of their original magnitude. Calculated Root Mean Square Errors (RMSE) showed good estimates for frame displacement (RMSE≤ 0.05m) and speed (RMSE≤ 0.1m/s) except for three truly vigorous tests. Estimates of horizontal frame rotation (RMSE<3°) and rotational speed (RMSE<7°/s) were very accurate in all conditions. Differences in calculated instantaneous rotation centers (IRC) were small, but somewhat larger in tests performed at high speed (RMSE up to 0.19m). Average test outcomes for linear speed (ICCs > 0.90), rotational speed (ICC>0.99) and IRC (ICC> 0.90) showed high correlations between IMU data and gold standard. Results indicate that wheel skid correction is a prerequisite to reliably measure wheelchair kinematics in sports conditions. Once applied, this method using cheap and affordable sensors, might enable prospective research in wheelchair basketball match conditions and contribute to individual support of athletes in everyday sports practice.