FREE SHIPPING over $40
OVER 9000 FIVE-STAR REVIEWS
5% OFF ALL SUBSCRIPTIONS
100% HAPPINESS GUARANTEE
Analyze Diet
0
Home / Equine Research Bank / Sensors (Basel) / The Protraction and Retraction Angles of Horse Limbs: An Est...
Sensors (Basel, Switzerland)2021; 21(11); 3792; doi: 10.3390/s21113792

The Protraction and Retraction Angles of Horse Limbs: An Estimation during Trotting Using Inertial Sensors.

Abstract: The protraction and retraction angles of horse limbs are important in the analysis of horse locomotion. This study explored two methods from an IMU positioned on the canon bone of eight horses to estimate these angles. Each method was based on a hypothesis in order to define the moment corresponding with the verticality of the canon bone: (i) the canon bone is in a vertical position at 50% of the stance phase or (ii) the verticality of the canon bone corresponds with the moment when the horse's withers reach their lowest point. The measurements were carried out on a treadmill at a trot and compared with a standard gold method based on motion capture. For the measurement of the maximum protraction and retraction angles, method (i) had average biases (0.7° and 1.7°) less than method (ii) (-1.3° and 3.7°). For the measurement of the protraction and retraction angles during the stance phase, method (i) had average biases (4.1° and -3.3°) higher to method (ii) (2.1° and -1.3°). This study investigated the pros and cons of a generic method (i) vs. a specific method (ii) to determine the protraction and retraction angles of horse limbs by a single IMU.
Get Full Text
Publication Date: 2021-05-30 PubMed ID: 34070859PubMed Central: PMC8199102DOI: 10.3390/s21113792Google Scholar: Lookup
The Equine Research Bank provides access to a large database of publicly available scientific literature. Inclusion in the Research Bank does not imply endorsement of study methods or findings by Mad Barn.
LinkedInCopy
  • Journal Article

Summary

This research summary has been generated with artificial intelligence and may contain errors and omissions. Refer to the original study to confirm details provided. Submit correction.

The research work focuses on determining and analyzing the protraction and retraction angles of horse limbs during trotting using an Inertial Measurement Unit (IMU).

Objective and Methods

The authors aimed to identify and compare two diverse methods to estimate the protraction and retraction angles of horse limbs during trotting. These methods involved using an IMU positioned on the horse’s canon bone. The approaches based on certain hypotheses were:

  • Method (i): The first method hypothesized that the canon bone is in a vertical position at 50% of the stance phase. The stance phase refers to the period when the horse’s foot is in contact with the ground.
  • Method (ii): The second method suggested that the verticality of the canon bone corresponds to the moment when the horse’s withers (the highest part of a horse’s back, located between the shoulder blades) reach their lowest point.

Study Design And Participants

The researchers carried out the experiments with eight horses on a treadmill, trotting at a steady speed. The recorded measurements from the IMU were then compared with a gold standard method based on motion capture technology to ascertain the effectiveness and accuracy of the two tested methods.

Findings

  • For the maximum protraction and retraction angles, Method (i) presented average biases of 0.7° and 1.7°, which were less than the biases (-1.3° and 3.7°) found in Method (ii).
  • For the assessment of the protraction and retraction angles during the stance phase, Method (i) had average biases (4.1° and -3.3°) higher than Method (ii) (2.1° and -1.3°).

Conclusion

The study proffers an evaluation of the strengths and weaknesses of using a generic method (Method i) versus a specific method (Method ii) to estimate the protraction and retraction angles of horse limbs using a single IMU during a trot. This investigation could help determine more effective ways to monitor equine locomotion and diagnose potential equine locomotion disorders.

Cite This Article

APA
Sapone M, Martin P, Ben Mansour K, Chateau H, Marin F. (2021). The Protraction and Retraction Angles of Horse Limbs: An Estimation during Trotting Using Inertial Sensors. Sensors (Basel), 21(11), 3792. https://doi.org/10.3390/s21113792

Publication

Sensors (Basel, Switzerland)
ISSN: 1424-8220
NlmUniqueID: 101204366
Country: Switzerland
Language: English
Volume: 21
Issue: 11
PII: 3792

Researcher Affiliations

Sapone, Marie
  • Université de Technologie de Compiègne, UMR CNRS 7338 BioMécanique et BioIngénierie, Alliance Sorbonne Université, 60200 Compiègne, France.
  • Ecole Nationale Vétérinaire d'Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France.
  • LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France.
Martin, Pauline
  • Ecole Nationale Vétérinaire d'Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France.
  • LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France.
Ben Mansour, Khalil
  • Université de Technologie de Compiègne, UMR CNRS 7338 BioMécanique et BioIngénierie, Alliance Sorbonne Université, 60200 Compiègne, France.
Chateau, Henry
  • Ecole Nationale Vétérinaire d'Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France.
Marin, Frédéric
  • Université de Technologie de Compiègne, UMR CNRS 7338 BioMécanique et BioIngénierie, Alliance Sorbonne Université, 60200 Compiègne, France.

MeSH Terms

  • Animals
  • Biomechanical Phenomena
  • Exercise Test
  • Gait
  • Horses
  • Locomotion
  • Torso

Conflict of Interest Statement

The authors declare no conflict of interest.

References

This article includes 52 references
  1. Biewener AA, Thomason J, Goodship A, Lanyon LE. Bone stress in the horse forelimb during locomotion at different gaits: a comparison of two experimental methods.. J Biomech 1983;16(8):565-76.
    doi: 10.1016/0021-9290(83)90107-0pubmed: 6643529google scholar: lookup
  2. Crevier-Denoix N, Falala S, Holden-Douilly L, Camus M, Martino J, Ravary-Plumioen B, Vergari C, Desquilbet L, Denoix JM, Chateau H, Pourcelot P. Comparative kinematic analysis of the leading and trailing forelimbs of horses cantering on a turf and a synthetic surface.. Equine Vet J Suppl 2013 Dec;(45):54-61.
    doi: 10.1111/evj.12160pubmed: 24304405google scholar: lookup
  3. Murray RC, Dyson SJ, Tranquille C, Adams V. Association of type of sport and performance level with anatomical site of orthopaedic injury diagnosis.. Equine Vet J Suppl 2006 Aug;(36):411-6.
    doi: 10.1111/j.2042-3306.2006.tb05578.xpubmed: 17402457google scholar: lookup
  4. Meershoek LS, Roepstorff L, Schamhardt HC, Johnston C, Bobbert MF. Joint moments in the distal forelimbs of jumping horses during landing.. Equine Vet J 2001 Jul;33(4):410-5.
    doi: 10.2746/042516401776249570pubmed: 11469776google scholar: lookup
  5. Singer ER, Barnes J, Saxby F, Murray JK. Injuries in the event horse: training versus competition.. Vet J 2008 Jan;175(1):76-81.
    doi: 10.1016/j.tvjl.2006.11.009pubmed: 17204438google scholar: lookup
  6. Audigié F, Pourcelot P, Degueurce C, Geiger D, Denoix JM. Fourier analysis of trunk displacements: a method to identify the lame limb in trotting horses.. J Biomech 2002 Sep;35(9):1173-82.
    doi: 10.1016/S0021-9290(02)00089-1pubmed: 12163307google scholar: lookup
  7. Benoit P. Examen clinique du cheval de saut d’obstacles en situation.. Bull. l’Académie Vétérinaire Fr. 2008;161:365–370.
    doi: 10.4267/2042/47963google scholar: lookup
  8. Denoix JM, Dyson SJ. The thoracolumbar spine. 2003;pp. 509–521.
  9. Boswell R, Mitchell R, Dyson S. Lameness in the show hunter and show jumper. 2003;pp. 965–975.
  10. Weishaupt MA, Wiestner T, Hogg HP, Jordan P, Auer JA. Compensatory load redistribution of horses with induced weightbearing hindlimb lameness trotting on a treadmill.. Equine Vet J 2004 Dec;36(8):727-33.
    doi: 10.2746/0425164044848244pubmed: 15656505google scholar: lookup
  11. Back W., Clayton H. Equine Locomotion. 2nd ed. Elsevier Health; London, UK: 2013.
  12. Bosch S, Serra Bragança F, Marin-Perianu M, Marin-Perianu R, van der Zwaag BJ, Voskamp J, Back W, van Weeren R, Havinga P. EquiMoves: A Wireless Networked Inertial Measurement System for Objective Examination of Horse Gait.. Sensors (Basel) 2018 Mar 13;18(3).
    doi: 10.3390/s18030850pmc: PMC5877382pubmed: 29534022google scholar: lookup
  13. Buchner HH, Savelberg HH, Schamhardt HC, Merkens HW, Barneveld A. Kinematics of treadmill versus overground locomotion in horses.. Vet Q 1994 May;16 Suppl 2:S87-90.
    doi: 10.1080/01652176.1994.9694509pubmed: 7801509google scholar: lookup
  14. Hodson E, Clayton HM, Lanovaz JL. The forelimb in walking horses: 1. Kinematics and ground reaction forces.. Equine Vet J 2000 Jul;32(4):287-94.
    doi: 10.2746/042516400777032237pubmed: 10952376google scholar: lookup
  15. Roepstorff L, Wiestner T, Weishaupt MA, Egenvall E. Comparison of microgyro-based measurements of equine metatarsal/metacarpal bone to a high speed video locomotion analysis system during treadmill locomotion.. Vet J 2013 Dec;198 Suppl 1:e157-60.
    doi: 10.1016/j.tvjl.2013.09.052pubmed: 24360759google scholar: lookup
  16. Muñoz A, Cuesta I, Riber C, Gata J, Trigo P, Castejón FM. Trot asymmetry in relation to physical performance and metabolism in equine endurance rides.. Equine Vet J Suppl 2006 Aug;(36):50-4.
    doi: 10.1111/j.2042-3306.2006.tb05512.xpubmed: 17402391google scholar: lookup
  17. Keegan KG, Wilson DA, Smith BK, Wilson DJ. Changes in kinematic variables observed during pressure-induced forelimb lameness in adult horses trotting on a treadmill.. Am J Vet Res 2000 Jun;61(6):612-9.
    doi: 10.2460/ajvr.2000.61.612pubmed: 10850834google scholar: lookup
  18. Weishaupt MA, Wiestner T, Hogg HP, Jordan P, Auer JA. Compensatory load redistribution of horses with induced weight-bearing forelimb lameness trotting on a treadmill.. Vet J 2006 Jan;171(1):135-46.
    doi: 10.1016/j.tvjl.2004.09.004pubmed: 15974567google scholar: lookup
  19. Clayton HM. Cinematographic analysis of the gait of lame horses.. J. Equine Vet. Sci. 1986;6:70–78.
    doi: 10.1016/S0737-0806(86)80037-5google scholar: lookup
  20. Clayton HM. Cinematographic analysis of the gait of lame horses II: Chronic sesamoiditis.. J. Equine Vet. Sci. 1986;6:310–320.
    doi: 10.1016/S0737-0806(86)80005-3google scholar: lookup
  21. Dyson S, Pollard D. Application of a Ridden Horse Pain Ethogram and Its Relationship with Gait in a Convenience Sample of 60 Riding Horses.. Animals (Basel) 2020 Jun 17;10(6).
    doi: 10.3390/ani10061044pmc: PMC7341225pubmed: 32560486google scholar: lookup
  22. Sapone M, Martin P, Chateau H, Parmentier J, Ben Mansour K, Marin F. Sizing of inertial sensors adapted to measurement of locomotor parameters in horses using motion capture.. Comput. Methods Biomech. Biomed. Eng. 2019;22(Suppl. S1):S105–S106.
    doi: 10.1080/10255842.2020.1713497google scholar: lookup
  23. Sapone M, Martin P, Ben Mansour K, Château H, Marin F. Comparison of Trotting Stance Detection Methods from an Inertial Measurement Unit Mounted on the Horse's Limb.. Sensors (Basel) 2020 May 25;20(10).
    doi: 10.3390/s20102983pmc: PMC7288211pubmed: 32466104google scholar: lookup
  24. Nankervis KJ, Lefrancois K. A comparison of protraction-retraction of the distal limb during treadmill and water treadmill walking in horses.. J. Equine Vet. Sci. 2018;70:57–62.
    doi: 10.1016/j.jevs.2018.08.005google scholar: lookup
  25. Martin P, Chateau H, Pourcelot P, Duray L, Chèze L. Effects of a prototype saddle (short panels) on the biomechanics of the equine back: preliminary results.. Comput Methods Biomech Biomed Engin 2015;18 Suppl 1:1990-1.
    doi: 10.1080/10255842.2015.1069591pubmed: 26230480google scholar: lookup
  26. Murray R, Guire R, Fisher M, Fairfax V. Girth pressure measurements reveal high peak pressures that can be avoided using an alternative girth design that also results in increased limb protraction and flexion in the swing phase.. Vet J 2013 Oct;198(1):92-7.
    doi: 10.1016/j.tvjl.2013.07.028pubmed: 23973365google scholar: lookup
  27. de Cocq P, van Weeren PR, Back W. Effects of girth, saddle and weight on movements of the horse.. Equine Vet J 2004 Dec;36(8):758-63.
    doi: 10.2746/0425164044848000pubmed: 15656511google scholar: lookup
  28. Marin F. Human and Animal Motion Tracking Using Inertial Sensors.. Sensors (Basel) 2020 Oct 26;20(21).
    doi: 10.3390/s20216074pmc: PMC7662986pubmed: 33114597google scholar: lookup
  29. Luinge HJ, Veltink PH. Inclination measurement of human movement using a 3-D accelerometer with autocalibration.. IEEE Trans Neural Syst Rehabil Eng 2004 Mar;12(1):112-21.
    doi: 10.1109/TNSRE.2003.822759pubmed: 15068194google scholar: lookup
  30. Rehbinder H, Hu X. Drift-free attitude estimation for accelerated rigid bodies.. Automatica 2004;40:653–659.
    doi: 10.1016/j.automatica.2003.11.002google scholar: lookup
  31. Zhu R, Zhou Z. A real-time articulated human motion tracking using tri-axis inertial/magnetic sensors package.. IEEE Trans Neural Syst Rehabil Eng 2004 Jun;12(2):295-302.
    doi: 10.1109/TNSRE.2004.827825pubmed: 15218943google scholar: lookup
  32. Luinge HJ, Veltink PH. Measuring orientation of human body segments using miniature gyroscopes and accelerometers.. Med Biol Eng Comput 2005 Mar;43(2):273-82.
    doi: 10.1007/BF02345966pubmed: 15865139google scholar: lookup
  33. Cooper G, Sheret I, McMillan L, Siliverdis K, Sha N, Hodgins D, Kenney L, Howard D. Inertial sensor-based knee flexion/extension angle estimation.. J Biomech 2009 Dec 11;42(16):2678-85.
    doi: 10.1016/j.jbiomech.2009.08.004pubmed: 19782986google scholar: lookup
  34. Dejnabadi H, Jolles BM, Casanova E, Fua P, Aminian K. Estimation and visualization of sagittal kinematics of lower limbs orientation using body-fixed sensors.. IEEE Trans Biomed Eng 2006 Jul;53(7):1385-93.
    doi: 10.1109/TBME.2006.873678pubmed: 16830942google scholar: lookup
  35. Wilson AM, Watson JC, Lichtwark GA. Biomechanics: A catapult action for rapid limb protraction.. Nature 2003 Jan 2;421(6918):35-6.
    doi: 10.1038/421035apubmed: 12511944google scholar: lookup
  36. Nez A, Fradet L, Laguillaumie P, Monnet T, Lacouture P. Simple and efficient thermal calibration for MEMS gyroscopes.. Med Eng Phys 2018 May;55:60-67.
    doi: 10.1016/j.medengphy.2018.03.002pubmed: 29576459google scholar: lookup
  37. Lepetit K, Ben Mansour K, Boudaoud S, Kinugawa-Bourron K, Marin F. Evaluation of the kinetic energy of the torso by magneto-inertial measurement unit during the sit-to-stand movement.. J Biomech 2018 Jan 23;67:172-176.
    doi: 10.1016/j.jbiomech.2017.11.028pubmed: 29269002google scholar: lookup
  38. Denoix J.M. Biomécanique et gymnastique du cheval. Unithèque; Paris, France: 2014.
  39. Robert C, Valette JP, Denoix JM. The effects of treadmill inclination and speed on the activity of two hindlimb muscles in the trotting horse.. Equine Vet J 2000 Jul;32(4):312-7.
    doi: 10.2746/042516400777032246pubmed: 10952380google scholar: lookup
  40. Robert C, Valette JP, Pourcelot P, Audigié F, Denoix JM. Effects of trotting speed on muscle activity and kinematics in saddlehorses.. Equine Vet J Suppl 2002 Sep;(34):295-301.
    doi: 10.1111/j.2042-3306.2002.tb05436.xpubmed: 12405704google scholar: lookup
  41. Merkens HW, Schamhardt HC. Relationships between ground reaction force patterns and kinematics in the walking and trotting horse.. Equine Vet. J. 1994;26:67–70.
    doi: 10.1111/j.2042-3306.1994.tb04877.xpubmed: 0google scholar: lookup
  42. Bigomar. Schéma de la Cinétique d’un Membre de Cheval Lors D’une Foulée.. 2006.
  43. Viry S, Sleimen-Malkoun R, Temprado JJ, Frances JP, Berton E, Laurent M, Nicol C. Patterns of horse-rider coordination during endurance race: a dynamical system approach.. PLoS One 2013;8(8):e71804.
    doi: 10.1371/journal.pone.0071804pmc: PMC3733789pubmed: 23940788google scholar: lookup
  44. Viry S, De Graaf JB, Frances JP, Berton E, Laurent M, Nicol C. Combined influence of expertise and fatigue on riding strategy and horse–rider coupling during the time course of endurance races.. Equine Vet J 2015 Jan;47(1):78-82.
    doi: 10.1111/evj.12236pubmed: 25679022google scholar: lookup
  45. Barrey E, Hermelin M, Vaudelin JL, Poirel D, Valette JP. Utilisation of an accelerometric device in equine gait analysis.. Equine Vet. J. 1994;26(Suppl. S17):7–12.
    doi: 10.1111/j.2042-3306.1994.tb04864.xgoogle scholar: lookup
  46. Bland JM, Altman DG. Agreement between methods of measurement with multiple observations per individual.. J Biopharm Stat 2007;17(4):571-82.
    doi: 10.1080/10543400701329422pubmed: 17613642google scholar: lookup
  47. Titterton D.H., Weston J.L. Strapdown Inertial Navigation Technology. 2nd ed. The Institution of Electrical Engineers; Stevenage, UK: 2004.
  48. Slajpah S, Kamnik R, Munih M. Kinematics based sensory fusion for wearable motion assessment in human walking.. Comput Methods Programs Biomed 2014 Sep;116(2):131-44.
    doi: 10.1016/j.cmpb.2013.11.012pubmed: 24374292google scholar: lookup
  49. van Weeren PR, van den Bogert AJ, Barneveld A. A quantitative analysis of skin displacement in the trotting horse.. Equine Vet J Suppl 1990 Jun;(9):101-9.
    doi: 10.1111/j.2042-3306.1990.tb04745.xpubmed: 9259817google scholar: lookup
  50. Byström A, Egenvall A, Roepstorff L, Rhodin M, Bragança FS, Hernlund E, van Weeren R, Weishaupt MA, Clayton HM. Biomechanical findings in horses showing asymmetrical vertical excursions of the withers at walk.. PLoS One 2018;13(9):e0204548.
    doi: 10.1371/journal.pone.0204548pmc: PMC6160136pubmed: 30261019google scholar: lookup
  51. Buchner HH, Savelberg HH, Schamhardt HC, Barneveld A. Head and trunk movement adaptations in horses with experimentally induced fore- or hindlimb lameness.. Equine Vet J 1996 Jan;28(1):71-6.
    doi: 10.1111/j.2042-3306.1996.tb01592.xpubmed: 8565958google scholar: lookup
  52. Rhodin M, Persson-Sjodin E, Egenvall A, Serra Bragança FM, Pfau T, Roepstorff L, Weishaupt MA, Thomsen MH, van Weeren PR, Hernlund E. Vertical movement symmetry of the withers in horses with induced forelimb and hindlimb lameness at trot.. Equine Vet J 2018 Nov;50(6):818-824.
    doi: 10.1111/evj.12844pmc: PMC6175082pubmed: 29658147google scholar: lookup

Citations

This article has been cited 6 times.
  1. Crecan CM, Peștean CP. Inertial Sensor Technologies-Their Role in Equine Gait Analysis, a Review. Sensors (Basel) 2023 Jul 11;23(14).
    doi: 10.3390/s23146301pubmed: 37514599google scholar: lookup
  2. Pagliara E, Marenchino M, Antenucci L, Costantini M, Zoppi G, Giacobini MDL, Bullone M, Riccio B, Bertuglia A. Fetlock Joint Angle Pattern and Range of Motion Quantification Using Two Synchronized Wearable Inertial Sensors per Limb in Sound Horses and Horses with Single Limb Naturally Occurring Lameness. Vet Sci 2022 Aug 25;9(9).
    doi: 10.3390/vetsci9090456pubmed: 36136672google scholar: lookup
  3. Pasquiet B, Biau S, Trébot Q, Debril JF, Durand F, Fradet L. Detection of Horse Locomotion Modifications Due to Training with Inertial Measurement Units: A Proof-of-Concept. Sensors (Basel) 2022 Jul 1;22(13).
    doi: 10.3390/s22134981pubmed: 35808476google scholar: lookup
  4. Becard B, Sapone M, Martin P, Hanne-Poujade S, Babu A, Hébert C, Joly P, Bertucci W, Houel N. Quantification of the Effect of Saddle Fitting on Rider-Horse Biomechanics Using Inertial Measurement Units. Sensors (Basel) 2025 Jul 30;25(15).
    doi: 10.3390/s25154712pubmed: 40807876google scholar: lookup
  5. Siegers EW, Parmentier JIM, Sloet van Oldruitenborgh-Oosterbaan MM, Munsters CCBM, Serra Bragança FM. Gait kinematics at trot before and after repeated ridden exercise tests in young Friesian stallions during a fatiguing 10-week training program. Front Vet Sci 2025;12:1456424.
    doi: 10.3389/fvets.2025.1456424pubmed: 39995550google scholar: lookup
  6. Hatrisse C, Macaire C, Hebert C, Hanne-Poujade S, De Azevedo E, Audigié F, Ben Mansour K, Marin F, Martin P, Mezghani N, Chateau H, Chèze L. A Method for Quantifying Back Flexion/Extension from Three Inertial Measurement Units Mounted on a Horse's Withers, Thoracolumbar Region, and Pelvis. Sensors (Basel) 2023 Dec 5;23(24).
    doi: 10.3390/s23249625pubmed: 38139471google scholar: lookup
Subscribe to our newsletter
Join 99,357 horse owners like you who receive our email updates on horse health and nutrition.