FPGA-Based Weighted DTW Framework with Hybrid Gait Symmetry Index for Real-Time Wearable Gait Classification

Gait symmetry analysis has emerged as an important tool in rehabilitation engineering and neurological disorder assessment, as it provides clinically relevant indicators of mobility impairment and gait abnormalities. The proposed framework integrates gait symmetry variability, statistical gait features and Dynamic Time Warping (DTW)-based temporal alignment to enhance robustness against gait variations and irregular walking patterns. A hybrid feature vector comprising DTW similarity scores, the hybrid gait symmetry index (GSI), and statistical gait descriptors was employed to classify gait patterns into five categories: normal, slow, medium, fast, and abnormal. The system was implemented as a wearable edge-computing platform using an NI myRIO device equipped with a tri-axial Inertial Measurement Unit (IMU) mounted on the subject’s body. The onboard FPGA performs real-time signal preprocessing, GSI computation, feature extraction, constrained DTW matching, and gait classification using fixed-point streaming architectures and BRAM-based buffering. Meanwhile, the embedded ARM processor manages TCP/IP communication and transmits real-time gait information to a remote monitoring workstation via a WiFi interface for visualization and analysis. Operating at a clock frequency of 100 MHz, the complete architecture achieves an end-to-end processing latency of approximately 4 ms. The proposed FPGA-based implementation provides low-latency, energy-efficient, and real-time gait analysis, making it well suited for wearable rehabilitation systems, assistive healthcare devices, and continuous mobility monitoring applications.