Feasibility of using a fully immersive virtual reality system for kinematic data collection

Commercially-available Virtual Reality (VR) systems have the potential to be effective tools for simultaneous visual manipulation and kinematic data collection. Previously, these systems have been integrated with research-grade motion capture systems to provide both functionalities; however, they are yet to be used as stand-alone systems for kinematic data collection. The present study aimed to validate the HTC VIVE VR system for kinematic data collection by evaluating the accuracy of its position and orientation signals. The VIVE controller and tracker were each compared to a Polhemus Liberty magnetic tracking system sensor for angular and translational measurement error and signal drift. A sensor from each system was mounted to opposite ends of a rigid segment which was driven through fifty rotations and fifty translations. Mean angular errors for both the VIVE tracker and controller were below 0.4°. Mean translational error for both sensors was below 3 mm. Drift in the Liberty signal components was consistently lower than drift in VIVE components. However, all mean rotational drift measures were below 0.1° and all mean translational measures were below 0.35 mm. These data indicate that the HTC VIVE system has the potential to be a valid and reliable means of kinematic data collection. However, further investigation is necessary to determine the VIVE’s suitability for capturing extremely minute or high-volume movements.     

Kinematic Analysis and Experimental Verification on the Locomotion of Gecko

This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematicmodel.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research.The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditionsthat maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motionof the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degreesof freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model issimulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko’smotion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combinationof closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground.The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three othergaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.Theresult can be used in biomimetic robot design and motion planning.     

Kinematic invariants during cyclical arm movements

It has been observed that the motion of the arm end-point (the hand, fingertip or the tip of a pen) is characterized by a number of regularities (kinematic invariants). Trajectory is usually straight, and the velocity profile has a bell shape during point-to-point movements. During drawing movements, a two-thirds power law predicts the dependence of the end-point velocity on the trajectory curvature. Although various principles of movement organization have been discussed as possible origins of these kinematic invariants, the nature of these movement trajectory characteristics remains an open question. A kinematic model of cyclical arm movements derived in the present study analytically demonstrates that all three kinematic invariants can be predicted from a two-joint approximation of the kinematic structure of the arm and from sinusoidal joint motions. With this approach, explicit expressions for two kinematic invariants, the two-thirds power law during drawing movements and the velocity profile during point-to-point movements are obtained as functions of arm segment lengths and joint motion parameters. Additionally, less recognized kinematic invariants are also derived from the model. The obtained analytical expressions are further validated with experimental data. The high accuracy of the predictions confirms practical utility of the model, showing that the model is relevant to human performance over a wide range of movements. The results create a basis for the consolidation of various existing interpretations of kinematic invariants. In particular, optimal control is discussed as a plausible source of invariant characteristics of joint motions and movement trajectories.     

Kinematic analysis of over-determinate biomechanical systems

In this paper, we introduce a new general method for kinematic analysis of rigid multi body systems subject to holonomic constraints. The method extends the standard analysis of kinematically determinate rigid multi body systems to the over-determinate case. This is accomplished by introducing a constrained optimisation problem with the objective function given as a function of the set of system equations that are allowed to be violated while the remaining equations define the feasible set. We show that exact velocity and acceleration analysis can also be performed by solving linear sets of equations, originating from differentiation of the Karush-Kuhn-Tucker optimality conditions. The method is applied to the analysis of an 18 degrees-of-freedom gait model where the kinematical drivers are prescribed with data from a motion capture experiment. The results show that significant differences are obtained between applying standard kinematic analysis or minimising the least-square errors on the two fully equivalent 3D gait models with only the way the experimental data is processed being different.     

Kinematic analysis of over-determinate biomechanical systems

In this paper, we introduce a new general method for kinematic analysis of rigid multi body systems subject to holonomic constraints. The method extends the standard analysis of kinematically determinate rigid multi body systems to the over-determinate case. This is accomplished by introducing a constrained optimisation problem with the objective function given as a function of the set of system equations that are allowed to be violated while the remaining equations define the feasible set.

We show that exact velocity and acceleration analysis can also be performed by solving linear sets of equations, originating from differentiation of the Karush–Kuhn–Tucker optimality conditions.

The method is applied to the analysis of an 18 degrees-of-freedom gait model where the kinematical drivers are prescribed with data from a motion capture experiment.

The results show that significant differences are obtained between applying standard kinematic analysis or minimising the least-square errors on the two fully equivalent 3D gait models with only the way the experimental data is processed being different.     

Algorithms to determine event timing during normal walking using kinematic data

Algorithms to predict heelstrike and toeoff times during normal walking using only kinematic data are presented. The accuracy of these methods was compared with the results obtained using synchronized force platform recordings of two subjects walking at a variety of speeds for a total of 12 trials. Using a 60Hz data collection system, the absolute value errors (AVE) in predicting heelstrike averaged 4.7ms, while the AVE in predicting toeoff times averaged 5.6ms. True average errors (negative for an early prediction) were +1.2ms for both heelstrike and toeoff, indicating that no systematic errors occurred. It was concluded that the proposed algorithms provide an easy and reliable method of determining event times during walking when kinematic data are collected, with a considerable improvement in resolution over visual inspection of video records, and could be utilized in conjunction with any 2-D or 3-D kinematic data collection system.     

Kinematic models of lower limb joints for musculo-skeletal modelling and optimization in gait analysis

Kinematic models of lower limb joints have several potential applications in musculoskeletal modelling of the locomotion apparatus, including the reproduction of the natural joint motion. These models have recently revealed their value also for in vivo motion analysis experiments, where the soft-tissue artefact is a critical known problem. This arises at the interface between the skin markers and the underlying bone, and can be reduced by defining multibody kinematic models of the lower limb and by running optimization processes aimed at obtaining estimates of position and orientation of relevant bones. With respect to standard methods based on the separate optimization of each single body segment, this technique makes it also possible to respect joint kinematic constraints. Whereas the hip joint is traditionally assumed as a 3 degrees of freedom ball and socket articulation, many previous studies have proposed a number of different kinematic models for the knee and ankle joints. Some of these are rigid, while others have compliant elements. Some models have clear anatomical correspondences and include real joint constraints; other models are more kinematically oriented, these being mainly aimed at reproducing joint kinematics. This paper provides a critical review of the kinematic models reported in literature for the major lower limb joints and used for the reduction of soft-tissue artefact. Advantages and disadvantages of these models are discussed, considering their anatomical significance, accuracy of predictions, computational costs, feasibility of personalization, and other features. Their use in the optimization process is also addressed, both in normal and pathological subjects.     

Evaluation of two computerized data collection devices for research in zoos

Computerized data collection devices can aid research in zoos if applied carefully to the research study. This article provides guidelines for use of two models of a representative data collection device, the Datamyte. The general features of each model are presented and compared in two hypothetical zoo studies. In addition, a human engineering analysis of the placement of keys and the physical enclosure was conducted at our laboratories. Procedures to overcome minor flaws in construction and design are discussed. The Datamyte 801 is less complicated, has limited data storage capacity, and is easier for use by novice observers than the Datamyte 1000. Therefore the Datamyte 801 is recommended for limited, short-term focal animal studies. The Datamyte 1000 is capable of complicated coding schemes at the expense of field analysis of the data, and simplicity in its basic operation.     

Optimal data collection for correlated mutation analysis

The main objective of correlated mutation analysis (CMA) is to predict intraprotein residue-residue interactions from sequence alone. Despite considerable progress in algorithms and computer capabilities, the performance of CMA methods remains quite low. Here we examine whether, and to what extent, the quality of CMA methods depends on the sequences that are included in the multiple sequence alignment (MSA). The results revealed a strong correlation between the number of homologs in an MSA and CMA prediction strength. Furthermore, many of the current methods include only orthologs in the MSA, we found that it is beneficial to include both orthologs and paralogs in the MSA. Remarkably, even remote homologs contribute to the improved accuracy. Based on our findings we put forward an automated data collection procedure, with a minimal coverage of 50% between the query protein and its orthologs and paralogs. This procedure improves accuracy even in the absence of manual curation. In this era of massive sequencing and exploding sequence data, our results suggest that correlated mutation-based methods have not reached their inherent performance limitations and that the role of CMA in structural biology is far from being fulfilled.     

Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.     

New biomechanical model for clinical evaluation of the upper extremity motion in subjects with neurological disorders: an application case

Cervical spinal cord injury and acquired brain injury commonly imply a reduction in the upper extremity function which complicates, or even constrains, the performance of basic activities of daily living. Neurological rehabilitation in specialised hospitals is a common treatment for patients with neurological disorders. This study presents a practical methodology for the objective and quantitative evaluation of the upper extremity motion during an activity of daily living of those subjects. A new biomechanical model (with 10 rigid segments and 20 degrees of freedom) was defined to carry out kinematic, dynamic and energetic analyses of the upper extremity motion during a reaching task through data acquired by an optoelectronic system. In contrast to previous upper extremity models, the present model includes the analysis of the grasp motion, which is considered as crucial by clinicians. In addition to the model, we describe a processing and analysis methodology designed to present relevant summaries of biomechanical information to rehabilitation specialists. As an application case, the method was tested on a total of four subjects: three healthy subjects and one pathological subject suffering from cervical spinal cord injury. The dedicated kinematic, dynamic and energetic analyses for this particular case are presented. The resulting set of biomechanical measurements provides valuable information for clinicians to achieve a thorough understanding of the upper extremity motion, and allows comparing the motion of healthy and pathological cases.     

Kinematic and electromyographic analyses of a karate punch

The aims of this study were: (i) to present the kinematic and electromyographic patterns of the choku-zuki punch performed by 18 experienced karatekas from the Portuguese team, and (ii) to compare it with the execution of 19 participants without any karate experience. The kinematic and electromyographic data were collected from the arm and forearm during the execution of the specific punch. A two-way analysis of variance (ANOVA) was used with significant level set at p ? 0.05. We found that the kinematic and neuromuscular activity in this punch occurs within 400 ms. Muscle activities and kinematic analysis presented a sequence of activation bracing a near-distal end, with the arm muscles showing greater intensity of activation than muscles in the forearm. In the skill performance, the arm, flexion and internal rotation, and the forearm extension and pronation movements were executed with smaller amplitude in the karate group. Based on the results of this study, the two groups’ presented distinct kinematic and electromyographic patterns during the performance of the choku-zuki punch.     

Digital data collection in paleoanthropology

Understanding patterns of human evolution across space and time requires synthesizing data collected by independent research teams, and this effort is part of a larger trend to develop cyber infrastructure and e‐science initiatives. 1 At present, paleoanthropology cannot easily answer basic questions about the total number of fossils and artifacts that have been discovered, or exactly how those items were collected. In this paper, we examine the methodological challenges to data integration, with the hope that mitigating the technical obstacles will further promote data sharing. At a minimum, data integration efforts must document what data exist and how the data were collected (discovery), after which we can begin standardizing data collection practices with the aim of achieving combined analyses (synthesis). This paper outlines a digital data collection system for paleoanthropology. We review the relevant data management principles for a general audience and supplement this with technical details drawn from over 15 years of paleontological and archeological field experience in Africa and Europe. The system outlined here emphasizes free open‐source software (FOSS) solutions that work on multiple computer platforms; it builds on recent advances in open‐source geospatial software and mobile computing.     

Adaptive data collection for intraindividual studies affected by adherence

Recently, the use of mobile technologies in ecological momentary assessments (EMAs) and interventions has made it easier to collect data suitable for intraindividual variability studies in the medical field. Nevertheless, especially when self-reports are used during the data collection process, there are difficulties in balancing data quality and the burden placed on the subject. In this paper, we address this problem for a specific EMA setting that aims to submit a demanding task to subjects at high/low values of a self-reported variable. We adopt a dynamic approach inspired by control chart methods and design optimization techniques to obtain an EMA triggering mechanism for data collection that considers both the individual variability of the self-reported variable and of the adherence. We test the algorithm in both a simulation setting and with real, large-scale data from a tinnitus longitudinal study. A Wilcoxon signed rank test shows that the algorithm tends to have both a higher F₁ score and utility than a random schedule and a rule-based algorithm with static thresholds, which are the current state-of-the-art approaches. In conclusion, the algorithm is proven effective in balancing data quality and the burden placed on the participants, especially in studies where data collection is impacted by adherence.     

Determination of dynamic ankle ligament strains from a computational model driven by motion analysis based kinematic data

External rotation of the foot has been implicated in high ankle sprains. Recent studies by this laboratory, and others, have suggested that torsional traction characteristics of the shoe-surface interface may play a role in ankle injury. While ankle injuries most often involve damage to ligaments due to excessive strains, the studies conducted by this laboratory and others have largely used surrogate models of the lower extremity to determine shoe-surface interface characteristics based on torque measures alone. The objective of this study was to develop a methodology that would integrate a motion analysis-based kinematic foot model with a computational model of the ankle to determine dynamic ankle ligament strains during external foot rotation. Six subjects performed single-legged, internal rotation of the body with a planted foot while a marker-based motion analysis was conducted to track the hindfoot motion relative to the tibia. These kinematic data were used to drive an established computational ankle model. Ankle ligament strains, as a function of time, were determined. The anterior tibiofibular ligament (ATiFL) experienced the highest strain at 9.2±1.1%, followed by the anterior deltoid ligament (ADL) at 7.8±0.7%, averaged over the six subjects. The peak ATiFL strain occurred prior to peak strain in the ADL in all subjects. This novel methodology may provide new insights into mechanisms of high ankle sprains and offer a basis for future evaluations of shoe-surface interface characteristics using human subjects rather than mechanical surrogate devices.