An instrumented wheel for kinetic analysis of wheelchair propulsion.

An instrumented wheel system for three-dimensional kinetic analysis of upper extremity during wheelchair propulsion has been designed and validated. This system allows the direct measurements of three-dimensional dynamic forces and moments on the handrim during wheelchair propulsion in a laboratory setting as well as in the field. Static loading tests showed a high linearity and little drift (coefficient of determination, r2 > 0.999). Under dynamic loading, the instrumented wheel provided the well-matched measurement forces and moments with the predicted values from the inverse dynamic method using video-based kinematic data (correlation coefficient, p > 0.97). The three-dimensional handrim forces and moments during wheelchair propulsion by a non-disabled subject were demonstrated.     

Hydrodynamic Analysis of C-start in Crucian Carp

The kinematics of turning maneuvers of startled Crucian Carp (Carassius auratus) are presented. All escape response observed are C-type fast-starts. The position of the center of mass and the me,merit of inertia of the fish are calculated. The results show that the position of the center of mass is always at 35% of the length of the fish from the head and the position of the center of mass and rroment of inertia can be considered unchanged during C-start of Crucian Carp. Hydro-dynamic analysis of the C-start is given based on the kinematics data from our experiments. The C-start consists of three stages. In stage 1, the tail fin of fish rapidly flaps in one direction, and a large moment acts on the fish‘s body, which rotates around the center of mass with an angular acceleration. In stage 2, the tail fin flaps more slowly in the opposite direction at slower speed, the fish‘s body rotates around the center of mass with angular deceleration and the center of mass of the fish moves along an are. In stage 3, the moment approximately equals zero, the fish‘s body stops rotating and the center of mass the moves along a straight line.     

Wheelchair propulsion: Force orientation and amplitude prediction with Recurrent Neural Network

The aim of this study was to use Recurrent Neural Network (RNN) to predict the orientation and amplitude of the applied force during the push phase of manual wheelchair propulsion.Trunk and the right-upper limb kinematics data were assessed with an optoeletronic device (Qualisys) and the force applied on the handrim was recorded with an instrumented wheel (SMARTWheel®). Data acquisitions were performed at 60/80/10/120/140% of the freely chosen frequency at submaximal and maximal conditions. The final database consisted of d = 5708 push phases.The input data were the trunk and right upper-limb kinematics (joint angle, angular velocity and acceleration) and anthropometric data (height, weight, segment length) and the output data were the applied forces orientation and amplitude. A ratio of 70/15/15 was used to train, validate and test the RNN (d_train = 3996, d_validation = 856 and d_test = 856). The angle and amplitude errors between the measured and predicted force was assessed from d_test.Results showed that for most of the push phase (∼70%), the force direction prediction errors were less than 12°. The mean absolute amplitude errors were less than 8 N and the mean absolute amplitude percentage errors were less than 20% for most of the push phase (∼80%).     

Static and dynamic assessment of the Biodex dynamometer

The validity and accuracy of the Biodex dynamometer was investigated under static and dynamic conditions. Static torque and angular position output correlated well with externally derived data (r = 0.998 and r greater than 0.999, respectively). Three subjects performed maximal voluntary knee extensions and flexions at angular velocities from 60 to 450 degrees.s-1. Using linear accelerometry, high speed filming and Biodex software, data were collected for lever arm angular velocity and linear accelerations, and subject generated torque. Analysis of synchronized angular position and velocity changes revealed the dynamometer controlled angular velocity of the lever arm to within 3.5% of the preset value. Small transient velocity overshoots were apparent on reaching the set velocity. High frequency torque artefacts were observed at all test velocities, but most noticeably at the faster speeds, and were associated with lever arm accelerations accompanying directional changes, application of resistive torques by the dynamometer, and limb instability. Isokinematic torques collected from ten subjects (240, 300 and 400 degrees.s-1) identified possible errors associated with reporting knee extension torques at 30 degrees of flexion. As a result of tissue and padding compliance, leg extension angular velocity exceeded lever arm angular velocity over most of the range of motion, while during flexion this compliance meant that knee and lever arm angles were not always identical, particularly at the start of motion. Nevertheless, the Biodex dynamometer was found to be both a valid and an accurate research tool; however, caution must be exercised when interpreting and ascribing torques and angular velocities to the limb producing motion.     

A technique for conditioning and calibrating force-sensing resistors for repeatable and reliable measurement of compressive force

Miniature sensors that could measure forces applied by the fingers and hand without interfering with manual dexterity or range of motion would have considerable practical value in ergonomics and rehabilitation. In this study, techniques have been developed to use inexpensive pressure-sensing resistors (FSRs) to accurately measure compression force. The FSRs are converted from pressure-sensing to force-sensing devices. The effects of nonlinear response properties and dependence on loading history are compensated by signal conditioning and calibration. A fourth-order polynomial relating the applied force to the current voltage output and a linearly weighted sum of prior outputs corrects for sensor hysteresis and drift. It was found that prolonged (>20 h) shear force loading caused sensor gain to change by approximately 100%. Shear loading also had the effect of eliminating shear force effects on sensor output, albeit only in the direction of shear loading. By applying prolonged shear loading in two orthogonal directions, the sensors were converted into pure compression sensors. Such preloading of the sensor is, therefore, required prior to calibration. The error in compression force after prolonged shear loading and calibration was consistently <5% from 0 to 30 N and <10% from 30 to 40 N. This novel method of calibrating FSRs for measuring compression force provides an inexpensive tool for biomedical and industrial design applications where measurements of finger and hand force are needed.     

Estimation of stride length in level walking using an inertial measurement unit attached to the foot: a validation of the zero velocity assumption during stance

In a variety of applications, inertial sensors are used to estimate spatial parameters by double integrating over time their coordinate acceleration components. In human movement applications, the drift inherent to the accelerometer signals is often reduced by exploiting the cyclical nature of gait and under the hypothesis that the velocity of the sensor is zero at some point in stance. In this study, the validity of the latter hypothesis was investigated by determining the minimum velocity of progression of selected points of the foot and shank during the stance phase of the gait cycle while walking at three different speeds on level ground. The errors affecting the accuracy of the stride length estimation resulting from assuming a zero velocity at the beginning of the integration interval were evaluated on twenty healthy subjects. Results showed that the minimum velocity of the selected points on the foot and shank increased as gait speed increased. Whereas the average minimum velocity of the foot locations was lower than 0.011 m/s, the velocity of the shank locations were up to 0.049 m/s corresponding to a percent error of the stride length equal to 3.3%. The preferable foot locations for an inertial sensor resulted to be the calcaneus and the lateral aspect of the rearfoot. In estimating the stride length, the hypothesis that the velocity of the sensor can be set to zero sometimes during stance is acceptable only if the sensor is attached to the foot.     

Chi-square distance kernel of the gaits for the diagnosis of Parkinson's disease

In this paper, a new approach for the diagnosis of the subjects with Parkinson's disease (PD) from the healthy control subjects is proposed. This method uses the measurements of gait signals using the ground reaction forces under usual walking of the subjects. These measurements were computed using 8 sensors placed underneath of each foot. The absolute value of the difference between the force measurements were calculated for each sensor at each time and these signals went through a short-time Fourier transform (STFT) and several features were extracted from the spectrum of the signals. The histogram of these features was computed and the bin selection was performed using the feature discriminant ratio (FDR) method. Then the chi-square distance between the reduced histograms was computed and it formed a kernel for support vector machines (SVMs) for classification. The results on 93 subjects with PD and 73 healthy control subjects show that the proposed approach obtains an accuracy of 91.20% for the diagnosis of the PD using gait signals.     

Predicting maximum eccentric strength from surface EMG measurements

The origin of the well-documented discrepancy between maximum voluntary and in vitro tetanic eccentric strength has yet to be fully understood. This study aimed to determine whether surface EMG measurements can be used to reproduce the in vitro tetanic force–velocity relationship from maximum voluntary contractions. Five subjects performed maximal knee extensions over a range of eccentric and concentric velocities on an isovelocity dynamometer whilst EMG from the quadriceps were recorded. Maximum voluntary (MVC) force–length–velocity data were estimated from the dynamometer measurements and a muscle model. Normalised amplitude–length–velocity data were obtained from the EMG signals. Dividing the MVC forces by the normalised amplitudes generated EMG corrected force–length–velocity data. The goodness of fit of the in vitro tetanic force–velocity function to the MVC and EMG corrected forces was assessed. Based on a number of comparative scores the in vitro tetanic force–velocity function provided a significantly better fit to the EMG corrected forces compared to the MVC forces (p?0.05), Furthermore, the EMG corrected forces generated realistic in vitro tetanic force–velocity profiles. A 58±19% increase in maximum eccentric strength is theoretically achievable through eliminating neural factors. In conclusion, EMG amplitude can be used to estimate in vitro tetanic forces from maximal in vivo force measurements, supporting neural factors as the major contributor to the difference between in vitro and in vivo maximal force.     

Quantitative analysis of fall risk using TUG test

We examined falling risk among elderly using a wearable inertial sensor, which combines accelerometer and gyrosensors devices, applied during the Timed Up and Go (TUG) test. Subjects were categorised into two groups as low fall risk and high fall risk with 13.5 s duration taken to complete the TUG test as the threshold between them. One sensor was attached at the subject's waist dorsally, while acceleration and gyrosensor signals in three directions were extracted during the test. The analysis was carried out in phases: sit-bend, bend-stand, walking, turning, stand-bend and bend-sit. Comparisons between the two groups showed that time parameters along with root mean square (RMS) value, amplitude and other parameters could reveal the activities in each phase. Classification using RMS value of angular velocity parameters for sit-stand phase, RMS value of acceleration for walking phase and amplitude of angular velocity signal for turning phase along with time parameters suggests that this is an improved method in evaluating fall risk, which promises benefits in terms of improvement of elderly quality of life.     

A hub dynamometer for measurement of wheel forces in off-road bicycling

A dynamometric hubset that measures the two ground contact force components acting on a bicycle wheel in the plane of the bicycle during off-road riding while either coasting or braking was designed, constructed, and evaluated. To maintain compatibility with standard mountain bike construction, the hubs use commercially available shells with modified, strain gage-equipped axles. The axle strain gages are sensitive to forces acting in the radial and tangential directions, while minimizing sensitivity to transverse forces, steering moments, and variations in the lateral location of the center of pressure. Static calibration and a subsequent accuracy check that computed differences between applied and apparent loads developed during coasting revealed root mean squared errors of 1 percent full-scale or less (full-scale load = 4500 N). The natural frequency of the rear hub with the wheel attached exceeded 350 Hz. These performance capabilities make the dynamometer useful for its intended purpose during coasting. To demonstrate this usefulness, sample ground contact forces are presented for a subject who coasted downhill over rough terrain. The dynamometric hubset can also be used to determine ground contact forces during braking providing that the brake reaction force components are known. However, compliance of the fork can lead to high cross-sensitivity and corresponding large (> 5 percent FS) measurement errors at the front wheel.     

A conductive polymer sensor for measuring external finger forces.

This paper describes the construction and use of a durable and thin force sensor that can be attached to the palmar surface of the fingers and hands for studying the biomechanics of grasp and for use in hand injury rehabilitation. These force sensors were constructed using a modified commercially available conductive polymer pressure sensing element and installing an epoxy dome for directing applied forces through a 12 mm diameter active sensing area. The installation of an epoxy dome was effective for making the sensors insensitive to contact surfaces varying from 25 to 1100 mm2 and a 16 mm radius surface curved convex towards the finger. The completed sensors were only 1.8 mm thick and capable of being taped to the distal phalangeal finger pads. They were calibrated on the hand by pinching a strain gage dynamometer. The useful range was between 0 and 30 N with an accuracy of 1 N for both static loading and normal dynamic grasp activities. The sensor time constant was 0.54 ms for a step force input. Because of varying offset voltages every time the sensors were attached, these sensors should be calibrated on the hand before each use. The sensors were used for measuring finger forces during controlled pinching and lifting tasks, and during ordinary grasping activities, such as picking up a book or a box, where the useful force range and response for these sensors were adequate.     

Traveling-load calibration of grid-array transient contact stress sensors

Thin, pliant transducers with grid arrays of sensing elements (sensels) have been widely used for transient measurements of intra-articular contact stresses. Conventional calibration procedures for this class of sensors are based upon spatially uniform scaling of sensel output values so as to recover two known fiducial loads, physically applied with the sensor either compressed between platens or mounted in situ. Because of the nonlinearities involved, it is desirable to have the highest of those two calibration loadings be such that all individual sensels are engaged at/near the peak of their expected functional range. However, for many situations of practical interest, impracticably large total calibration forces would be required. We report development of a novel pneumatically actuated wringer-like calibration device, and companion iterative post-processing software, that bypasses this longstanding difficulty. Sensors passed through the rollers of this device experience constant-distribution traveling fiducial loads propagating across their surface, thus allowing efficient calibration of all sensels individually to contact stress levels that would be impracticably high to simultaneously apply to all sensels. Sensel-specific calibration curves are rapidly and easily generated using this new approach and compare favorably to those obtained with less expeditious conventional platen-based protocols.     

Prediction of applied forces in handrim wheelchair propulsion

Researchers of wheelchair propulsion have usually suggested that a wheelchair can be properly designed using anthropometrics to reduce high mechanical load and thus reduce pain and damage to joints. A model based on physiological features and biomechanical principles can be used to determine anthropometric relationships for wheelchair fitting. To improve the understanding of man-machine interaction and the mechanism through which propulsion performance been enhanced, this study develops and validates an energy model for wheelchair propulsion. Kinematic data obtained from ten able-bodied and ten wheelchair-dependent users during level propulsion at an average velocity of 1m/s were used as the input of a planar model with the criteria of increasing efficiency and reducing joint load. Results demonstrate that for both experienced and inexperienced users, predicted handrim contact forces agree with experimental data through an extensive range of the push. Significant deviations that were mostly observed in the early stage of the push phase might result from the lack of consideration of muscle dynamics and wrist joint biomechanics. The proposed model effectively verified the handrim contact force patterns during dynamic propulsion. Users do not aim to generate mechanically most effective forces to avoid high loadings on the joints.     

Kinematics of Visually-Guided Eye Movements

One of the hallmarks of an eye movement that follows Listing’s law is the half-angle rule that says that the angular velocity of the eye tilts by half the angle of eccentricity of the line of sight relative to primary eye position. Since all visually-guided eye movements in the regime of far viewing follow Listing’s law (with the head still and upright), the question about its origin is of considerable importance. Here, we provide theoretical and experimental evidence that Listing’s law results from a unique motor strategy that allows minimizing ocular torsion while smoothly tracking objects of interest along any path in visual space. The strategy consists in compounding conventional ocular rotations in meridian planes, that is in horizontal, vertical and oblique directions (which are all torsion-free) with small linear displacements of the eye in the frontal plane. Such compound rotation-displacements of the eye can explain the kinematic paradox that the fixation point may rotate in one plane while the eye rotates in other planes. Its unique signature is the half-angle law in the position domain, which means that the rotation plane of the eye tilts by half-the angle of gaze eccentricity. We show that this law does not readily generalize to the velocity domain of visually-guided eye movements because the angular eye velocity is the sum of two terms, one associated with rotations in meridian planes and one associated with displacements of the eye in the frontal plane. While the first term does not depend on eye position the second term does depend on eye position. We show that compounded rotation - displacements perfectly predict the average smooth kinematics of the eye during steady- state pursuit in both the position and velocity domain.     

Enhancing the examiner's resisting force improves the validity of manual muscle strength measurements: application to knee extensors and flexors

The purposes of this study were to test whether an examiner's strength may affect the validity of the knee muscle strength measurements using a hand-held dynamometer (HHD) and whether enhancing the forces applied by an examiner using a resistance-enhanced dynamometer (RED) would improve measurement validity. Twenty-five young male volunteers (mean [±SD] age: 22.5 ± 1.7 years) without a history of injury to the test limb and 6 male and 6 female experienced examiners participated in this study. Maximum resisting forces of the knee flexors and extensors were measured using RED, HHD, and a dynamometer (Kin-Com). For all testing conditions, poor to moderate associations were found between the HHD and Kin-Com, whereas there was a good to excellent relationship between RED and Kin-Com. The systematic variations between RED and Kin-Com were also smaller than those between HHD and Kin-Com. The force values measured by RED were very close to those measured by Kin-Com. An examiner's strength affects the validity of the measurements using HHD. Enhancing the forces applied by the examiner to the tested segment using RED appeared to improve the validity of muscle strength measurements.     

Motion Control in Saccade and Smooth Pursuit for Bionic Eye Based on Three-dimensional Coordinates

Saccade and smooth pursuit are two important functions of human eye.In order to enable bionic eye to imitate the two functions,a control method that implements saccade and smooth pursuit based on the three-dimensional coordinates of target is proposed.An optimal observation position is defined for bionic eye based on three-dimensional coordinates.A kind of motion planning method with high accuracy is developed.The motion parameters of stepper motor consisting of angle acceleration and turning time are computed according to the position deviation,the target's angular velocity and the stepper motor's current angular velocity in motion planning.The motors are controlled with the motion parameters moving to given position with desired angular velocity in schedule time.The experimental results show that the bionic eye can move to optimal observation positions in 0.6 s from initial location and the accuracy of 3D coordinates is improved.In addition,the bionic eye can track a target within the error of less than 20 pixels based on three-dimensional coordinates.It is verified that saccade and smooth pursuit of bionic eye based on three-dimensional coordinates are feasible.     

Comparing different approaches for determining joint torque parameters from isovelocity dynamometer measurements

Strength, or maximum joint torque, is a fundamental factor governing human movement, and is regularly assessed for clinical and rehabilitative purposes as well as for research into human performance. This study aimed to identify the most appropriate protocol for fitting a maximum voluntary torque function to experimental joint torque data. Three participants performed maximum isometric and concentric-eccentric knee extension trials on an isovelocity dynamometer and a separate experimental protocol was used to estimate maximum knee extension angular velocity. A nine parameter maximum voluntary torque function, which included angle, angular velocity and neural inhibition effects, was fitted to the experimental torque data and three aspects of this fitting protocol were investigated. Using an independent experimental estimate of maximum knee extension angular velocity gave lower variability in the high concentric velocity region of the maximum torque function compared to using dynamometer measurements alone. A weighted root mean square difference (RMSD) score function, that forced the majority (73-92%) of experimental data beneath the maximum torque function, was found to best account for the one-sided noise in experimental torques resulting from sub-maximal effort by the participants. The suggested protocol (an appropriately weighted RMSD score function and an independent estimate of maximum knee extension angular velocity) gave a weighted RMSD of between 11 and 13 Nm (4-5% of maximum isometric torque). It is recommended that this protocol be used in generating maximum voluntary joint torque functions in all torque-based modelling of dynamic human movement.     

Gait posture estimation using wearable acceleration and gyro sensors

A method for gait analysis using wearable acceleration sensors and gyro sensors is proposed in this work. The volunteers wore sensor units that included a tri-axis acceleration sensor and three single axis gyro sensors. The angular velocity data measured by the gyro sensors were used to estimate the translational acceleration in the gait analysis. The translational acceleration was then subtracted from the acceleration sensor measurements to obtain the gravitational acceleration, giving the orientation of the lower limb segments. Segment orientation along with body measurements were used to obtain the positions of hip, knee, and ankle joints to create stick figure models of the volunteers. This method can measure the three-dimensional positions of joint centers of the hip, knee, and ankle during movement. Experiments were carried out on the normal gait of three healthy volunteers. As a result, the flexion–extension (F–E) and the adduction–abduction (A–A) joint angles of the hips and the flexion–extension (F–E) joint angles of the knees were calculated and compared with a camera motion capture system. The correlation coefficients were above 0.88 for the hip F–E, higher than 0.72 for the hip A–A, better than 0.92 for the knee F–E. A moving stick figure model of each volunteer was created to visually confirm the walking posture. Further, the knee and ankle joint trajectories in the horizontal plane showed that the left and right legs were bilaterally symmetric.     

Specificity of leg power changes to velocities used in bicycle endurance training

Increases in leg power production resulting from 8 wk of bicycle endurance training (30 min/day, 5 times/wk) were studied using an isokinetic dynamometer. In addition, biopsies of vastus lateralis were analyzed to characterize muscle ultrastructural changes. Performance increased on the dynamometer specifically near the estimated average knee angular velocity used during the bicycle training (200 degrees/s). Power measurements were made during the first 5 contractions (maximal power: Pmax) and last 5 contractions (final power: Pend) of 25 and 50 consecutive contractions (at 60 and 240 degrees/s, respectively). Pmax and Pend increased only at 240 degrees/s but not at 60 degrees/s. These increases in Pmax (86 W) and Pend (78 W) resulted primarily from longer torque maintenance but also from increased peak torque during each contraction and were close to the increase in mechanical power output maintained on the bicycle (Pb; 78 W) during the training sessions. The specificity of these changes to the angular velocities used in the bicycle training indicates a neural basis to these adaptations. We suggest that these neural adaptations, coupled with the observed enhancement of muscle mitochondrial and capillary density (+41 and +15%, respectively) underlie the increased ability to maintain power production on a bicycle after endurance training.     

Three-dimensional head angular velocity detection from otolith afferent signals

Afferent signals from the otolith organs can produce compensatory eye position and velocity signals which has been described as linear vestibulo-ocular reflex (LVOR). The afferent otolith signals carry information about head orientation and changes of head orientation relative to gravity. A head orientation (tilt) related position signal can be obtained from population vector coding of tonic otolith afferent signals during static or dynamic head tilts, which in turn could produce compensatory eye position signals in the LVOR. On the other hand, eye angular velocity signals may be extracted, as proposed in this study, from the population response of tilt-velocity sensitive otolith afferents. Such afferents are shown to encode instantaneous head orientation relative to gravity at onset of a head movement and, as the movement continues, the projection of head angular velocity onto the earth-horizontal plane, indicating the instantaneous direction of movement relative to gravity. Angular velocity components along the earth-vertical direction which are not directly encoded by otolith afferents can be detected by central signal processing. Central reconstruction of 3D head angular velocity allows to obtain information about absolute head orientation in space even in the absence of semicircular canal related information. Such information is important for generating compensatory eye movements as well as for dynamic control of posture.