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WO2025137238A1 - Système de surveillance de mouvement de cheval et procédés associés - Google Patents

Système de surveillance de mouvement de cheval et procédés associés Download PDF

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Publication number
WO2025137238A1
WO2025137238A1 PCT/US2024/060976 US2024060976W WO2025137238A1 WO 2025137238 A1 WO2025137238 A1 WO 2025137238A1 US 2024060976 W US2024060976 W US 2024060976W WO 2025137238 A1 WO2025137238 A1 WO 2025137238A1
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WO
WIPO (PCT)
Prior art keywords
horse
data
motion sensor
monitoring system
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/060976
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English (en)
Inventor
David Lambert
John Mikael HOLMSTROEM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stridesafe LLC
Original Assignee
Stridesafe LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stridesafe LLC filed Critical Stridesafe LLC
Publication of WO2025137238A1 publication Critical patent/WO2025137238A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B68—SADDLERY; UPHOLSTERY
    • B68C—SADDLES; STIRRUPS
    • B68C1/00—Saddling equipment for riding- or pack-animals
    • B68C1/12—Bottom pads for saddles; Saddle cloths
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K29/00—Other apparatus for animal husbandry
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7275—Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2503/00—Evaluating a particular growth phase or type of persons or animals
    • A61B2503/40—Animals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1112—Global tracking of patients, e.g. by using GPS

Definitions

  • Figure 1A and Figure IB show the data from two different horses both breezing and racing. Considered together, these figures illustrate: i) The similarity or “fingerprint” of each horse even under different circumstances. ii) The dissimilarity between two different horses.
  • the data in each case is selected from three different events, namely two breezes and one race.
  • the sensor system may comprise: i) a triaxial accelerometer measuring accelerations in dorso-ventral, medio-lateral, and longitudinal planes; ii) a magnetometer measuring direction in each of the dorso-ventral, the medio-lateral, and the longitudinal planes; and iii) a multiaxis gyroscope measuring pitch, yaw, and roll: that is rotation about the dorso- ventral, the medio-lateral and the longitudinal planes.
  • the horse movement monitoring system may also include a saddle cloth including a pocket adapted to hold the sensor system at a midline location extending from the lumbosacral joint of the horse forwards to the first lumbar vertebra of the horse and laterally a distance of 10 inches (25.4 cm) down both the left and right sides of the horse from the midline location.
  • the sensor system may be adapted to collect data at at least 200Hz (200 times per second) in all directions and does so throughout an entire stride of the horse.
  • the horse movement monitoring system may further include a controller adapted to receive motion data from the sensor system generated when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet push off of the ground and (e) the pelvis of the horse steers the horse when all the feet are off the ground.
  • a controller adapted to receive motion data from the sensor system generated when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet push off of the ground and (e) the pelvis of the horse steers the horse when all the feet are off the ground.
  • the horse movement monitoring system may further include a GPS locator connected to the controller.
  • the horse movement monitoring system may further include a data memory device adapted to store the motion data received by the controller from the sensor system.
  • the horse monitoring system may further include a power source adapted to power the sensor system, the controller, and the data memory device.
  • the horse movement monitoring system may further include a transmitter to transmit motion data from the horse movement monitoring system to a remote location.
  • a method of monitoring the physical welfare of a horse comprises, consists of or consists essentially of: (a) positioning a horse movement monitoring system, including at least one motion sensor, adjacent to the lumbar spine of the horse whereby force is measured in a forward direction, a rearward direction, an upward direction, a downward direction, a rightward direction, a leftward direction, along with yaw, pitch and roll; (b) collecting, with the at least one motion sensor adjacent to the lumbar spine, motion data indicative of when (1) individual rear feet of the horse contact the ground, (2) the individual rear feet of the horse push off of the ground, (3) individual front feet of the horse contact the ground, (4) the individual front feet push off of the ground and (5) the pelvis of the horse steers the horse when all the feet are off the ground, and (c) analyzing the collected data, with a controller, to identify an anomaly indicative of an injury the horse.
  • the method may further include comparing, by the controller, the motion sensor data collected by the at least one motion sensor with motion sensor data previously collected for the horse.
  • the method may further include comparing, by the controller, the motion sensor data collected by the at least one motion sensor with a mean reference data profde of healthy horses.
  • the method may further include providing, by the controller, an indication of potential horse injury when the motion sensor data collected by the at least one motion sensor is three standard deviations or greater away from the mean reference profde of healthy horses.
  • the method may further include comparing, by the controller, the motion sensor data collected by the at least one motion sensor with a mean reference data profile of healthy horses.
  • the method may further include providing, by the controller, an indication of potential horse injury when the motion sensor data collected by the at least one motion sensor is three standard deviations or greater away from the mean reference profile of healthy horses.
  • the method may further include analyzing, by the controller, the motion sensor data collected by the at least one motion sensor and determining which leg or legs of the horse are injured.
  • Figure 1 A is a series of data graphs illustrating the stride fingerprint of a three year old colt wherein the first column represents the colt breezing on a first day, the second column represents the colt breezing on a second day and the third column represents the colt racing on a third day.
  • the top graph in each column is dorso-ventral data (DV)
  • the middle graph in each column is longitudinal data (LG)
  • the bottom graph in each column is medio-lateral data (ML).
  • Figure IB is a series of data graphs illustrating the stride fingerprint of a two year old colt wherein the first column represents the colt breezing on a first day, the second column represents the colt breezing on a second day and the third column represents the colt racing on a third day.
  • the top graph in each column is dorso-ventral data (DV)
  • the middle graph in each column is longitudinal data (LG)
  • the bottom graph in each column is medio-lateral data (ML).
  • Figure 2 is a top plan skeletal view of a horse illustrating the lumbar spine LS of the horse H where the sensor system of the horse movement monitoring system is positioned and held during use as well as the dorso-ventral axis, the longitudinal axis and the medio-lateral axis for data collection.
  • Figure 3 is a schematic illustration of the horse movement monitoring system.
  • Figure 4A illustrates three pockets on a saddle cloth that are adapted to receive and hold the horse movement monitoring system adjacent to the lumbar spine of the horse to be monitored.
  • the left pocket holds the system within ten inches (25.4 cm) to the left side of the lumbar spine.
  • the middle pocket holds the system above and along the lumbar spine.
  • the right pocket holds the system within ten inches (25.4 cm) to the right side of the lumbar spine.
  • Figure 4B the horse movement monitoring system held in the middle pocket of the saddle cloth on a horse where the system overlies the lumbar spine of the horse to be monitored.
  • Figure 5 is a graph showing data from the sensor plotted over four strides where the x- axis is time in seconds and the y-axis is g force.
  • Figure 6A is a graph showing a normal, healthy stride fingerprint of a particular horse while Figure 6B is a graph showing the same horse compensating for an injury to the horse’s right front leg.
  • Figures 7 A through 7D show stride data collected by the horse movement monitoring system placed on the lumbar spine with (a) Figure 7A illustrating a left front leg injury, (b) Figure 7B illustrating a right front leg injury, (c) Figure 7C illustrating a left hind leg injury and (d) Figure 7D illustrating a right hind leg injury.
  • FIG. 3 illustrates the horse movement monitoring system 10.
  • That system 10 includes a housing 12 that holds or carries (a) a sensor system 14, (b) a controller 16, in the form of a processor, (c) a data memory device 18, such as a data storage SIM card, (d) a global positioning satellite (GPS) locator 20, and (e) a power source 22 such as a rechargeable battery.
  • a sensor system 14 a sensor system 14
  • a controller 16 in the form of a processor
  • a data memory device 18 such as a data storage SIM card
  • GPS global positioning satellite locator
  • a power source 22 such as a rechargeable battery.
  • the sensor system 14 is capable of collecting data in up to nine axes where the data is used to produce algorithms and models capable of predicting injury, including catastrophic and even fatal injury, to any one, two, three or four legs of the horse.
  • the sensor system 14 includes a triaxial accelerometer 24 (for measuring accelerations in dorso-ventral, medio-lateral, and longitudinal axes/planes), a magnometer 26 (measuring direction in each of the dorso-ventral, the medio-lateral, and the longitudinal planes) and a multiaxis gyroscope 28 (for measuring pitch, yaw, and roll: that is rotation about the respective medio-lateral, dorso-ventral and longitudinal planes). See Figure 2.
  • the sensor system 14 records at greater than 200 Hz (and in some embodiments, greater than 300 Hz, greater than 500 Hz, greater than 800 Hz and greater than 1 ,000 Hz) making it possible to monitor all aspects of the movement of the horse as that movement is translated along the lumbar spine LS of the horse H.
  • the controller 16 is adapted to receive the motion data from the sensor system 14 generated when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet of the horse push off the ground and (e) the pelvis, neck, and head of the horse steers the horse when all the feet are off the ground.
  • the data memory device 18 is adapted to store the motion data received by the controller 16 from the sensor system 14.
  • the GPS locator 20 is adapted to provide data respecting the location of the horse during movement monitoring.
  • the magnetometer 26 is adapted to monitor horse movement direction.
  • the multi-axis gyroscope 28 is adapted to monitor pitch, yaw and roll of the horse as it moves.
  • the power source 22 is adapted to power the motion sensor system 14 (including the accelerometer 24, the magnetometer 26 and the gyroscope 28), the controller 16, the data memory device 18, and the GPS locator 20.
  • the horse movement monitoring system 10 measures when speed (velocity) changes, either faster or slower.
  • the rate of change of velocity is called acceleration and hence the term accelerometer. It can measure accelerations forwards or backwards, (the longitudinal plane LG), side-to-side (the medio-lateral plane ML), or up and down (the dorso-ventral plane DV).
  • the accelerometer 24 in the DV plane can detect the ever-present force due to gravity, g, which is known to create an acceleration of 32 ft/sec/sec. Therefore the system is calibrated continuously against gravity, 1g, so any acceleration in any plane can be converted to a number of “g’s”.
  • the medio-lateral sensor measures an acceleration of 64 ft/sec/sec then that is twice the acceleration due to gravity so it records “2g”. Due to the continuous calibration against the everpresent force of gravity which remains a constant, even if the position of the sensor system 14 is jostled while the horse is running, the accuracy of the measurements along the dorso-ventral (DV), longitudinal (LG), and medio-lateral (ML) planes is maintained. Calibration for direction is also constantly maintained by the magnetometer 26.
  • accelerations are created by forces generated by the horse and measured by the sensor system 14 on the lumbar spine LS. They are picked up and more normally at 200-1000Hz throughout the stride, as described above.
  • the sensor system 14 collects data at least 200 times per second (200Hz) and does so in each of the 3 planes. In one possible embodiment, the sensor system 14 collects data at 800Hz so in total that is 2,400 data points per second.
  • the magnetometer 26 measures direction and the gyroscope 28 measures pitch, yaw, and roll.
  • Alternative embodiments of the horse movement monitoring system 10 may further include a transmitter 34, carried in or on the housing 12, that is adapted to transmit the sensor collected data from the motion sensor to a remote location such as to a controller 16 for data analysis.
  • the system 10 may include a remote control activation switch 36, carried on or in the housing 12, that is adapted to activate or deactivate the electronic components of the system (e.g. the sensor system 14, the controller 16 and the GPS locator 20).
  • Figure 5 is a graph showing in a general way data from the sensor plotted over four strides from a horse being monitored.
  • the x-axis is time in seconds and the y-axis is g force.
  • Figures 6A and 6B are graphs showing smoothed data for 3 strides of the same horse on two different occasions.
  • the dorso-ventral (DV) data up and down forces
  • the medio-lateral data left-right forces
  • the longitudinal data forward and rearward forces
  • the x axis is time and the y axis is g force.
  • the graph of Figure 6 A is a normal stride “fingerprint” for this horse when healthy.
  • the graph of Figure 6B there is a 5g positive peak at the time in the stride associated with front leg stance. Note action arrow A pointing to the peak.
  • Figures 6A and 6B are representative of how the motion data collected by the horse movement monitoring system 10 may be used to monitor the physical wellness of a horse.
  • This positive peak A such as shown, means a movement left and this is occurring as the horse avoids pain on the right.
  • Figure 7A illustrates a peak in the medio-lateral data that is indicative of a movement to the right which is an effort by the horse to avoid pain from a left front leg injury (note arrow pointing to peak).
  • Figure 7B is similar to Figure 6B and illustrates a peak in the medio-lateral data that is indicative of a right front leg injury (note arrow pointing to peak).
  • Figure 7C illustrates medio-lateral data generated during a series of five strides illustrated one on the other.
  • the X-axis is percent of the stride and the y-axis is G-forces measured at the sensor.
  • the data begins when the first hind leg makes ground contact. This data is from the turn so the first leg down is the right hind leg.
  • the left hind leg is on the ground and at this point there are negative G forces on every stride.
  • negative means "to the right” so at this point the horse is avoiding his left hind leg and moving over to the right. Such action taken by the horse is indicative of a left hind leg injury.
  • the horse movement monitoring system 10, described above, is useful in a new and improved method of monitoring the physical welfare of a horse. That method includes the step of positioning the horse movement monitoring system 10, including at least one motion sensor 14, adjacent to the lumbar spine LS of the horse H whereby force is measured in a forward direction, a rearward direction, an upward direction, a downward direction, a rightward direction, a leftward direction, along with yaw, pitch and roll.
  • the method also includes the step of collecting, with the at least one motion sensor 14 adjacent to the lumbar spine LS, motion data indicative of when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet push off of the ground and (e) pelvis of the horse steers the horse when all the feet are off the ground.
  • the method includes the step of analyzing the collected data, with a controller 16, to identify an anomaly indicative of an injury the horse.
  • the method may further include the step of comparing, by the controller 16, the motion sensor data collected by the at least one motion sensor with motion sensor data previously collected for the horse. In some embodiments, the method may further include the step of comparing, by the controller 16, the motion sensor data collected by the at least one motion sensor 14 with a mean reference data profile of healthy horses. In some embodiments, the method may further include providing, by the controller 16, an indication of potential horse injury when the motion sensor data collected by the at least one motion sensor 14 is three standard deviations or greater away from the mean reference profile of healthy horses. The method may include analyzing, by the controller 16, the motion sensor data collected by the at least one motion sensor 14 and determining which leg or legs of the horse are injured.
  • a horse movement monitoring system comprising: at least one motion sensor adapted to monitor movement of the horse from a position adjacent to the lumbar spine of the horse.
  • the at least one motion sensor comprises a sensor system capable of collecting data in up to 9 axis where the data is used to produce algorithms and models capable of predicting injury, including catastrophic and even fatal injury, to any one, two, three or four legs of the horse.
  • the horse movement monitoring system of item 2 wherein the sensor system comprises: a triaxial accelerometer measuring accelerations in dorso-ventral, medio-lateral, and longitudinal planes; a magnetometer measuring direction in each of the dorso-ventral, the medio-lateral, and the longitudinal planes; and a multiaxis gyroscope measuring pitch, yaw, and roll.
  • the horse movement monitoring system of item 5 further including a controller adapted to receive motion data from the sensor system generated when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet push off of the ground and (e) pelvis of the horse steers the horse when all the feet are off the ground.
  • the horse movement monitoring system of item 6 further including a GPS locator connected to the controller.
  • the horse movement monitoring system of item 7 further including: a data memory device adapted to store the motion data received by the controller from the sensor system; and a power source adapted to power the sensor system, the controller, and the data memory device.
  • the horse movement monitoring system of 9, further including a connection to a computer to download.
  • a method of monitoring physical welfare of a horse comprising: positioning a horse movement monitoring system, including at least one motion sensor and a magnetometer, adjacent to a lumbar spine of the horse whereby force is measured in a forward direction, a rearward direction, an upward direction, a downward direction, a rightward direction, a leftward direction, along with yaw, pitch and roll; collecting, with the at least one motion sensor adjacent to the lumbar spine, motion data indicative of when (a) individual rear feet of the horse contact the ground, (b) the individual rear feet of the horse push off of the ground, (c) individual front feet of the horse contact the ground, (d) the individual front feet push off of the ground and (e) pelvis of the horse steers the horse when all the feet are off the ground; and analyzing the collected data, with a controller, to identify an anomaly indicative of an injury the horse.
  • the method of item 12 further including comparing, by the controller, the motion sensor data collected by the at least one motion sensor with motion sensor data previously collected for the horse. 14. The method of item 13, further including comparing, by the controller, the motion sensor data collected by the at least one motion sensor with a mean reference data profile of healthy horses.
  • the method of item 16 further including providing, by the controller, an indication of potential horse injury when the motion sensor data collected by the at least one motion sensor is three standard deviations or greater away from the mean reference profile of healthy horses.
  • the method of item 12 further including analyzing, by the controller, the motion sensor data collected by the at least one motion sensor and determining which leg or legs of the horse are injured.
  • the controller 16 may comprise one controller for the sensor system 14 that is carried on the horse H and a separate controller for the data analysis that is at a remote location.
  • Multiple sensors on one horse may communicate with each other, to sensors on other horses and to a base station transmitting to other locations. This communication may be through Bluetooth, radio frequencies, or by 3G, 4G or 5G connection with telecommunication networks. Accordingly, it is intended that all such alternatives, modifications, or/and variations, fall within the spirit of, and are encompassed by, the broad scope of the appended claims.

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Abstract

Un système de surveillance de mouvement de cheval comprend au moins un capteur de mouvement conçu pour surveiller le mouvement du cheval depuis une position adjacente au rachis lombaire du cheval.
PCT/US2024/060976 2023-12-19 2024-12-19 Système de surveillance de mouvement de cheval et procédés associés Pending WO2025137238A1 (fr)

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US202363612124P 2023-12-19 2023-12-19
US63/612,124 2023-12-19

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WO2025137238A1 true WO2025137238A1 (fr) 2025-06-26

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060106289A1 (en) * 2004-11-12 2006-05-18 Andrew M. Elser, V.M.D., Pc Equine wireless physiological monitoring system
US20080021352A1 (en) * 2006-07-21 2008-01-24 The Curators Of The University Of Missouri Lameness evaluation systems and methods
CN104523282A (zh) * 2015-01-09 2015-04-22 大连理工大学 一种穿戴式人马动作监测方法和系统
US20190133086A1 (en) * 2017-11-08 2019-05-09 Pellesus Ltd. Horse monitor system and method
WO2023012687A1 (fr) * 2021-08-05 2023-02-09 Agillis Ltd. Appareil de surveillance de patte de cheval

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060106289A1 (en) * 2004-11-12 2006-05-18 Andrew M. Elser, V.M.D., Pc Equine wireless physiological monitoring system
US20080021352A1 (en) * 2006-07-21 2008-01-24 The Curators Of The University Of Missouri Lameness evaluation systems and methods
CN104523282A (zh) * 2015-01-09 2015-04-22 大连理工大学 一种穿戴式人马动作监测方法和系统
US20190133086A1 (en) * 2017-11-08 2019-05-09 Pellesus Ltd. Horse monitor system and method
WO2023012687A1 (fr) * 2021-08-05 2023-02-09 Agillis Ltd. Appareil de surveillance de patte de cheval

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BOSCH STEPHAN, SERRA BRAGANÇA FILIPE, MARIN-PERIANU MIHAI, MARIN-PERIANU RALUCA, VAN DER ZWAAG BEREND, VOSKAMP JOHN, BACK WILLEM, : "EquiMoves: A Wireless Networked Inertial Measurement System for Objective Examination of Horse Gait", SENSORS, vol. 18, no. 3, 1 January 2018 (2018-01-01), CH , pages 1 - 35, XP093331856, ISSN: 1424-8220, DOI: 10.3390/s18030850 *

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