A new method to quantify liner deformation within a prosthetic socket for below knee amputees

Many amputees who wear a leg prosthesis develop significant skin wounds on their residual limb. The exact cause of these wounds is unclear as little work has studied the interface between the prosthetic device and user. Our research objective was to develop a quantitative method for assessing displacement patterns of the gel liner during walking for patients with transtibial amputation. Using a reflective marker system and a custom clear socket, evaluations were conducted with a clear transparent test socket mounted over a plaster limb model and a deformable limb model. Distances between markers placed on the limb were measured with a digital caliper and then compared with data from the motion capture system. Additionally, the rigid plaster set-up was moved in the capture volume to simulate walking and evaluate if inter-marker distances changed in comparison to static data. Dynamic displacement trials were then collected to measure changes in inter-marker distance due to vertical elongation of the gel liner. Static and dynamic inter-marker distances within day and across days confirmed the ability to accurately capture displacements using this new approach. These results encourage this novel method to be applied to a sample of amputee patients during walking to assess displacements and the distribution of the liner deformation within the socket. The ability to capture changes in deformation of the gel liner will provide new data that will enable clinicians and researchers to improve design and fit of the prosthesis so the incidence of pressure ulcers can be reduced.     

Desert ants Cataglyphis fortis use self-induced optic flow to measure distances travelled

While foraging, desert ants of the genus Cataglyphis use a vector navigation (route integration) system for homing. Any vector navigation system requires that the animal is able to evaluate the angles steered and the distances travelled. Here we investigate whether the ants acquire the latter information by monitoring self-induced optic flow. To answer this question, the animals were trained and tested within perspex channels in which patterns were presented underneath a transparent walking platform. The patterns could be moved at different velocities (up to > 0.5 the ant's walking speed) in the same or in the opposite direction relative to the direction in which the animal walked. Experimental manipulations of the optic flow influenced the ant's homing distances (Figs. 2 and 4). Distance estimation depends on the speed of self-induced image motion rather than on the contrast frequency, indicating that the motion sensitive mechanism involved is different from mechanisms mediating the optomotor response. Experiments in which the ants walked on a featureless floor, or in which they wore eye covers (Fig. 6), show that they are able also to use additional (probably kinesthetic) cues for assessing their travel distance. Hence, even though optic flow cues are not the only ones used by the ants, the experiments show that ants are obviously able to exploit such cues for estimation of travel distance.     

Validation of a smart shoe for estimating foot progression angle during walking gait

The foot progression angle is an important measurement related to knee loading, pain, and function for individuals with knee osteoarthritis, however current measurement methods require camera-based motion capture or floor-embedded force plates confining foot progression angle assessment to facilities with specialized equipment. This paper presents the validation of a customized smart shoe for estimating foot progression angle during walking. The smart shoe is composed of an electronic module with inertial and magnetometer sensing inserted into the sole of a standard walking shoe. The smart shoe charges wirelessly, and up to 160 h of continuous data (sampled at 100 Hz) can be stored locally on the shoe. For validation testing, fourteen healthy subjects were recruited and performed treadmill walking trials with small, medium, and large toe-in (internal foot rotation), small, medium, and large toe-out (external foot rotation) and normal foot progression angle at self-selected walking speeds. Foot progression angle calculations from the smart shoe were compared with measurements from a standard motion capture system. In general, foot progression angle values from the smart shoe closely followed motion capture values for all walking conditions with an overall average error of 0.1 ± 1.9 deg and an overall average absolute error of 1.7 ± 1.0 deg. There were no significant differences in foot progression angle accuracy across the seven different walking gait patterns. The presented smart shoe could potentially be used for knee osteoarthritis or other clinical applications requiring foot progression angle assessment in community settings or in clinics without specialized motion capture equipment.     

Modelling the Effects of Current on Prey Acquisition in Planktivorous Fishes

Many planktivorous fishes forage in currents, where they actively maintain position and visually strike at current-entrained zooplankton. In general, the zooplankton are wafted by the foraging fish at a rate equivalent to the current velocity. From a fish's viewpoint the plankton approach either head-on or offset at varied distances from the fish's position. We present a model that describes the relative motion of particles as they approach and pass a foraging fish at different offset distances, and the rate of change in apparent size as they close on a fish. In addition, a series of experiments of fish feeding on plankton in a flume at increasing current velocities revealed that two basic tactics are utilized. At low current velocities (<10-14 cm s m 1), the fish swims toward the prey, whereas at higher current velocities the fish tends to fall back with the current to capture a prey item. The model and experimental results are discussed in terms of the visual problems associated with the detection and tracking of items in motion.     

How Can a Patient Blind to Radial Motion Discriminate Shifts in the Center-of-Motion?

Within biologically constrained models of heading and complex motion processing, localization of the center-of-motion (COM) is typically an implicit property arising from the precise computation of radial motion direction associated with an observers forward self-motion. In the work presented here we report psychophysical data from a motion-impaired stroke patient, GZ, whose pattern of visual motion deficits is inconsistent with this view. We show that while GZ is able to discriminate direction in circular motions she is unable to discriminate direction in radial motion patterns. GZs inability to discriminate radial motion is in stark contrast with her ability to localize the COM in such stimuli and suggests that recovery of the COM does not necessarily require an explicit representation of radial motion direction. We propose that this dichotomy can be explained by a circular template mechanism that minimizes a global motion error relative to the visual motion input, and we demonstrate that a sparse population of such templates is computationally sufficient to account for human psychophysical performance in general and in particular, explains GZs performance. Recent re-analysis of the predicted receptive field structures in several existing heading models provides additional support for this type of circular template mechanism and suggests the human visual system may have available circular motion mechanisms for heading estimation.     

Day-to-day reliability of gait characteristics in rats

The purpose of the present study was to determine the day-to-day reliability in stride characteristics in rats during treadmill walking obtained with two-dimensional (2D) motion capture. Kinematics were recorded from 26 adult rats during walking at 8 m/min, 12 m/min and 16 m/min on two separate days. Stride length, stride time, contact time, swing time and hip, knee and ankle joint range of motion were extracted from 15 strides. The relative reliability was assessed using intra-class correlation coefficients (ICC(1,1)) and (ICC(3,1)). The absolute reliability was determined using measurement error (ME). Across walking speeds, the relative reliability ranged from fair to good (ICCs between 0.4 and 0.75). The ME was below 91 mm for strides lengths, below 55 ms for the temporal stride variables and below 6.4° for the joint angle range of motion. In general, the results indicated an acceptable day-to-day reliability of the gait pattern parameters observed in rats during treadmill walking. The results of the present study may serve as a reference material that can help future intervention studies on rat gait characteristics both with respect to the selection of outcome measures and in the interpretation of the results.     

Treadmill experience alters treadmill effects on perceived visual motion

Information on ongoing body movements can affect the perception of ambiguous visual motion. Previous studies on "treadmill capture" have shown that treadmill walking biases the perception of ambiguous apparent motion in backward direction in accordance with the optic flow during normal walking, and that long-term treadmill experience changes the effect of treadmill capture. To understand the underlying mechanisms for these phenomena, we conducted Experiment 1 with non-treadmill runners and Experiment 2 with treadmill runners. The participants judged the motion direction of the apparent motion stimuli of horizontal gratings in front of their feet under three conditions: walking on a treadmill, standing on a treadmill, and standing on the floor. The non-treadmill runners showed the presence of downward bias only under the walking condition, indicating that ongoing treadmill walking but not the awareness of being on a treadmill biased the visual directional discrimination. In contrast, the treadmill runners showed no downward bias under any of the conditions, indicating that neither ongoing activity nor the awareness of spatial context produced perception bias. This suggests that the long-term repetitive experience of treadmill walking without optic flow induced the formation of a treadmill-specific locomotor-visual linkage to perceive the complex relationship between self and the environment.     

An Experimental Analysis of Overcoming Obstacle in Human Walking

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.     

Static accuracy analysis of Vicon T40s motion capture cameras arranged externally for motion capture in constrained aquatic environments

While the capabilities of land-based motion capture systems in biomechanical applications have been previously reported, the possibility of using motion tracking systems externally to reconstruct markers submerged inside an aquatic environment has been under explored. This study assesses the ability of a motion capture system (Vicon T40s) arranged externally to track a retro-reflective marker inside a glass tank filled with water and without water. The reflective tape used for marker creation in this study was of Safety of Life at Sea (SOLAS) grade as the conventional marker loses its reflective properties when submerged. The overall trueness calculated based on the mean marker distance errors, varied between 0.257 mm and 0.290 mm in different mediums (air, glass and water). The overall precision calculated based on mean standard deviation of mean marker distances at different locations varied between 0.046 mm and 0.360 mm in different mediums. Our results suggest, that there is no significant influence of the presence of water on the overall static accuracy of the marker center distances when markers were made of SOLAS grade reflective tape. Using optical motion tracking systems for evaluating locomotion in aquatic environment can help to better understand the effects of aquatic therapy in clinical rehabilitation, especially in scenarios that involve equipment, such as an underwater treadmill which generally have constrained capture volumes for motion capture.     

Can sacral marker approximate center of mass during gait and slip-fall recovery among community-dwelling older adults?

Falls are prevalent in older adults. Dynamic stability of body center of mass (COM) is critical for maintaining balance. A simple yet accurate tool to evaluate COM kinematics is essential to examine the COM stability. The purpose of this study was to determine the extent to which the COM position derived from body segmental analysis can be approximated by a single (sacral) marker during unperturbed (regular walking) and perturbed (gait-slip) gait. One hundred eighty seven older adults experienced an unexpected slip after approximately 10 regular walking trials. Two trials, the slip trial and the preceding regular walking trial, monitored with a motion capture system and force plates, were included in the present study. The COM positions were calculated by using the segmental analysis method wherein, the COM of all body segments was calculated to further estimate the body COM position. These body COM positions were then compared with those of the sacral marker placed at the second sacral vertebra for both trials. Results revealed that the COM positions were highly correlated with those of the sacrum׳s over the time intervals investigated for both walking (coefficient of correlation R>0.97) and slip (R>0.90) trials. There were detectable kinematic difference between the COM and the sacral for both trials. Our results indicated that the sacral marker can be used as a simple approximation of body COM for regular walking, and to somewhat a lesser extent, upon a slip. The benefits from the simplicity appear to overweigh the limitations in accuracy.     

A direct comparison of patient and force-controlled simulator total knee replacement kinematics

The need to critically evaluate the efficacy of current total knee replacement (TKR) wear testing methodologies is great. Proposed international standards for TKR wear simulation have been drafted, yet their methods continue to be debated. The "gold standard" to which all TKR wear testing methodologies should be compared is measured in vivo TKR performance in patients. The current study compared patient TKR kinematics from fluoroscopic analysis and simulator TKR kinematics from force-controlled wear testing to quantify similarities in clinical ranges of motion and contact bearing kinematics and to evaluate the proposed ISO force-controlled wear testing methodology. The treadmill walking kinematics from eight well-functioning, 13 month average post-op patients were compared to the 2 million cycle interval walking cycle kinematics from a force-controlled (Instron/Stanmore Knee Joint Simulator, Instron, Canton, MA) knee simulator using identical implant designs (Natural Knee II, Standard Congruent, Zimmer, Warsaw, IN). The in vivo and simulator data showed good agreement in kinematic patterns and ranges of clinical motion. Tribologically the data sets showed similar contact pathway ranges of motion and wear travel distances per cycle. Surgical and simulator alignments of the implant systems were determined to be a contributing factor in observed kinematic differences. This study's statistical findings offer supporting evidence that the simulation of in vivo walking cycle wear kinematics can be accurately reproduced with a force controlled testing methodology.     

Locomotion pattern and foot pressure adjustments during gentle turns in healthy subjects

People suffering from locomotor impairment find turning manoeuvres more challenging than straight-ahead walking. Turning manoeuvres are estimated to comprise a substantial proportion of steps taken daily, yet research has predominantly focused on straight-line walking, meaning that the basic kinetic, kinematic and foot pressure adaptations required for turning are not as well understood. We investigated how healthy subjects adapt their locomotion patterns to accommodate walking along a gently curved trajectory (radius 2.75 m). Twenty healthy adult participants performed walking tasks at self-selected speeds along straight and curved pathways. For the first time for this mode of turning, plantar pressures were recorded using insole foot pressure sensors while participants’ movements were simultaneously tracked using marker-based 3D motion capture. During the steady-state strides at the apex of the turn, the mean operating point of the inside ankle shifted by 1 degree towards dorsiflexion and that for the outside ankle shifted towards plantarflexion. The largest change in relative joint angle range was an increase in hip rotation in the inside leg (>60%). In addition, the inside foot was subject to a prolonged stance phase and a 10% increase in vertical force in the posteromedial section of the foot compared to straight-line walking. Most of the mechanical change required was therefore generated by the inside leg with hip rotation being a major driver of the gentle turn. This study provides new insight into healthy gait during gentle turns and may help us to understand the mechanics behind some forms of impairment.     

Comparison of Hi-C results using in-solution versus in-nucleus ligation

BackgroundChromosome conformation capture and various derivative methods such as 4C, 5C and Hi-C have emerged as standard tools to analyze the three-dimensional organization of the genome in the nucleus. These methods employ ligation of diluted cross-linked chromatin complexes, intended to favor proximity-dependent, intra-complex ligation. During development of single-cell Hi-C, we devised an alternative Hi-C protocol with ligation in preserved nuclei rather than in solution. Here we directly compare Hi-C methods employing in-nucleus ligation with the standard in-solution ligation.ResultsWe show in-nucleus ligation results in consistently lower levels of inter-chromosomal contacts. Through chromatin mixing experiments we show that a significantly large fraction of inter-chromosomal contacts are the result of spurious ligation events formed during in-solution ligation. In-nucleus ligation significantly reduces this source of experimental noise, and results in improved reproducibility between replicates. We also find that in-nucleus ligation eliminates restriction fragment length bias found with in-solution ligation. These improvements result in greater reproducibility of long-range intra-chromosomal and inter-chromosomal contacts, as well as enhanced detection of structural features such as topologically associated domain boundaries.ConclusionsWe conclude that in-nucleus ligation captures chromatin interactions more consistently over a wider range of distances, and significantly reduces both experimental noise and bias. In-nucleus ligation creates higher quality Hi-C libraries while simplifying the experimental procedure. We suggest that the entire range of 3C applications are likely to show similar benefits from in-nucleus ligation.

Electronic supplementary material

The online version of this article (doi:10.1186/s13059-015-0753-7) contains supplementary material, which is available to authorized users.     

Ankle torque control that shifts the center of pressure from heel to toe contributes non-zero sagittal plane angular momentum during human walking

A principle objective of human walking is controlling angular motion of the body as a whole to remain upright. The force of the ground on each foot (F) reflects that control, and recent studies show that in the sagittal plane F exhibits a specific coordination between F direction and center-of-pressure (CP) that is conducive to remaining upright. Typical walking involves the CP shifting relative to the body due to two factors: posterior motion of the foot with respect to the hip (stepping) and motion of the CP relative to the foot (foot roll-over). Recent research has also shown how adjusting ankle torque alone to shift CP relative to the foot systematically alters the direction of F, and thus, could play a key role in upright posture and the F measured during walking. This study explores how the CP shifts due to stepping and foot roll-over contribute to the observed F and its role in maintaining upright posture. Experimental walking kinetics and kinematics were combined with a mechanical model of the human to show that variation in F that was not attributable to foot roll-over had systematic correlation between direction and CP that could be described by an intersection point located near the center-of-mass. The findings characterize a component of walking motor control, describe how typical foot roll-over contributes to postural control, and provide a rationale for the increased fall risk observed in individuals with atypical ankle muscle function.     

Intra-limb coordination while walking is affected by cognitive load and walking speed

Knowledge about intra-limb coordination (ILC) during challenging walking conditions provides insight into the adaptability of central nervous system (CNS) for controlling human gait. We assessed the effects of cognitive load and speed on the pattern and variability of the ILC in young people during walking. Thirty healthy young people (19 female and 11 male) participated in this study. They were asked to perform 9 walking trials on a treadmill, including walking at three paces (preferred, slower and faster) either without a cognitive task (single-task walking) or while subtracting 1?s or 3?s from a random three-digit number (simple and complex dual-task walking, respectively). Deviation phase (DP) and mean absolute relative phase (MARP) values—indicators of variability and phase dynamic of ILC, respectively—were calculated using the data collected by a motion capture system. We used a two-way repeated measure analysis of variance for statistical analysis. The results showed that cognitive load had a significant main effect on DP of right shank–foot and thigh–shank, left shank–foot and pelvis–thigh (p<0.05), and MARP of both thigh–shank segments (p<0.01). In addition, the main effect of walking speed was significant on DP of all segments in each side and MARP of both thigh–shank and pelvis–thigh segments (p<0.001). The interaction of cognitive load and walking speed was only significant for MARP values of left shank–foot and right pelvis–thigh (p<0.05 and p<0.001, respectively). We suggest that cognitive load and speed could significantly affect the ILC and variability and phase dynamic during walking.     

Control of trunk motion following sudden stop perturbations during cart pushing

External perturbations during pushing tasks have been suggested to be a risk factor for low-back symptoms. An experiment was designed to investigate whether self-induced and externally induced sudden stops while pushing a high inertia cart influence trunk motions, and how flexor and extensor muscles counteract these perturbations. Twelve healthy male participants pushed a 200 kg cart at shoulder height and hip height. Pushing while walking was compared to situations in which participants had to stop the cart suddenly (self-induced stop) or in which the wheels of the cart were unexpectedly blocked (externally induced stop). For the perturbed conditions, the peak values and the maximum changes from the reference condition (pushing while walking) of the external moment at L5/S1, trunk inclination and electromyographic amplitudes of trunk muscles were determined. In the self-induced stop, a voluntary trunk extension occurred. Initial responses in both stops consisted of flexor and extensor muscle cocontraction. In self-induced stops this was followed by sustained extensor activity. In the externally induced stops, an external extension moment caused a decrease in trunk inclination. The opposite directions of the internal moment and trunk motion in the externally induced stop while pushing at shoulder height may indicate insufficient active control of trunk posture. Consequently, sudden blocking of the wheels in pushing at shoulder height may put the low back at risk of mechanical injury.     

The flexibility and dynamics of protein disulfide isomerase

We have studied the mobility of the multidomain folding catalyst, protein disulfide isomerase (PDI), by a coarse‐graining approach based on flexibility. We analyze our simulations of yeast PDI (yPDI) using measures of backbone movement, relative positions and orientations of domains, and distances between functional sites. We find that there is interdomain flexibility at every interdomain junction but these show very different characteristics. The extent of interdomain flexibility is such that yPDI's two active sites can approach much more closely than is found in crystal structures—and indeed hinge motion to bring these sites into proximity is the lowest energy normal mode of motion of the protein. The flexibility predicted for yPDI (based on one structure) includes the other known conformation of yPDI and is consistent with (i) the mobility observed experimentally for mammalian PDI and (ii) molecular dynamics. We also observe intradomain flexibility and clear differences between the domains in their propensity for internal motion. Our results suggest that PDI flexibility enables it to interact with many different partner molecules of widely different sizes and shapes, and highlights considerable similarities of yPDI and mammalian PDI. Proteins 2016; 84:1776–1785. © 2016 Wiley Periodicals, Inc.     

Validation of magneto-inertial measuring units for measuring hip joint angles

Camera-based motion capture systems are the current gold standard for motion analysis. However, the use of wireless inertial sensor-based systems is increasing in popularity, largely due to convenient portability. The purpose of this study was to validate the use of wireless inertial sensors for measuring hip joint motion with a functional calibration requiring only one motion (walking) and neutral standing. Data were concurrently collected using a 10-camera motion capture system and a wireless inertial sensor-based system. Hip joint angles were measured for 10 participants during walking, jumping jack, and bilateral squat tasks and for a subset (n = 5) a jump turn task. Camera-based system hip joint angles were calculated from retro-reflective marker positions and sensor-based system angles were calculated in MATLAB using the sensor output quaternions. Most hip joint angles measured with the sensor-based system were within 6° of angles measured with the camera motion capture system. Accurate measurement of motion outside of a laboratory setting has broad implications for diagnosing movement abnormalities, monitoring sports performance, and assessing rehabilitation progress.     

Priority effects in a planktonic bloom-forming marine diatom

Priority effects occur when a species or genotype with earlier arrival has an advantage such that its relative abundance in the community or population is increased compared with later-arriving species. Few studies have dealt with this concept in the context of within-species competition. Skeletonema marinoi is a marine diatom that shows a high degree of genetic differentiation between populations over small geographical distances. To test whether historical events such as priority effects may have been important in inducing these patterns of population differentiation, we performed microcosm experiments with successive inoculation of different S. marinoi strains. Our results show that even in the absence of a numerical advantage, significant priority effects were evident. We propose that priority effects may be an important mechanism in initiating population genetic differentiation.     

A differential cell capture assay for evaluating antibody interactions with cell surface targets

Many biological and biomedical laboratory assays require the use of antibodies and antibody fragments that strongly bind to their cell surface targets. Conventional binding assays, such as the enzyme-linked immunosorbent assay (ELISA) and flow cytometry, have many challenges, including capital equipment requirements, labor intensiveness, and large reagent and sample consumption. Although these techniques are successful in mainstream biology, there is an unmet need for a tool to quickly ascertain the relative binding capabilities of antibodies/antibody fragments to cell surface targets on the benchtop at low cost. We describe a novel cell capture assay that enables several candidate antibodies to be evaluated quickly as to their relative binding efficacies to their cell surface targets. We used chimeric rituximab and murine anti-CD20 monoclonal antibodies as cell capture agents on a functionalized microscope slide surface to assess their relative binding affinities based on how well they capture CD20-expressing mammalian cells. We found that these antibodies’ concentration-dependent cell capture profiles correlate with their relative binding affinities. A key observation of this assay involved understanding how differences in capture surfaces affect the assay results. This approach can find utility when an antibody or antibody fragment against a known cell line needs to be selected for targeting studies.