Compensation of large motion sensor displacements during long recordings of limb movements

In motion capture applications using electromagnetic tracking systems the process of anatomical calibration associates the technical frames of sensors attached to the skin with the human anatomy. Joint centers and axes are determined relative to these frames. A change of orientation of the sensor relative to the skin renders this calibration faulty. This sensitivity regarding sensor displacement can turn out to be a serious problem with movement recordings of several minutes duration. We propose the “dislocation distance” as a novel method to quantify sensor displacement and to detect gradual and sudden changes of sensor orientation. Furthermore a method to define a so called fixed technical frame is proposed as a robust reference frame which can adapt to a new sensor orientation on the skin. The proposed methods are applied to quantify the effects of sensor displacement of 120 upper and lower limb movement recordings of newborns revealing the need for a method to compensate for sensor displacement. The reliability of the fixed technical frame is quantified and it is shown that trend and dispersion of the dislocation distance can be significantly reduced. A working example illustrates the consequences of sensor displacement on derived angle time series and how they are avoided using the fixed technical frame.     

Novel approach to ambulatory assessment of human segmental orientation on a wearable sensor system

A new method using a double-sensor difference based algorithm for analyzing human segment rotational angles in two directions for segmental orientation analysis in the three-dimensional (3D) space was presented. A wearable sensor system based only on triaxial accelerometers was developed to obtain the pitch and yaw angles of thigh segment with an accelerometer approximating translational acceleration of the hip joint and two accelerometers measuring the actual accelerations on the thigh. To evaluate the method, the system was first tested on a 2° of freedom mechanical arm assembled out of rigid segments and encoders. Then, to estimate the human segmental orientation, the wearable sensor system was tested on the thighs of eight volunteer subjects, who walked in a straight forward line in the work space of an optical motion analysis system at three self-selected speeds: slow, normal and fast. In the experiment, the subject was assumed to walk in a straight forward way with very little trunk sway, skin artifacts and no significant internal/external rotation of the leg. The root mean square (RMS) errors of the thigh segment orientation measurement were between 2.4° and 4.9° during normal gait that had a 45° flexion/extension range of motion. Measurement error was observed to increase with increasing walking speed probably because of the result of increased trunk sway, axial rotation and skin artifacts. The results show that, without integration and switching between different sensors, using only one kind of sensor, the wearable sensor system is suitable for ambulatory analysis of normal gait orientation of thigh and shank in two directions of the segment-fixed local coordinate system in 3D space. It can then be applied to assess spatio-temporal gait parameters and monitoring the gait function of patients in clinical settings.     

Zeroing of six-component handrim dynamometer for biomechanical studies of manual wheelchair locomotion

A six-component handrim dynamometer (HRD) is a dynamometer that rotates around the wheel axle during measurements. For this kind of dynamometer, static zero level calibration is insufficient because the proportion of the forces (i.e. handrim weight and centrifugal force) measured by each sensor varies according to the angular position and velocity of the dynamometer. The dynamic calibration presented in this paper is based on the direct correction of the sensor signals using Fourier's polynomials that take into account the influences of both the handrim weight distribution on the sensors with respect to the wheel's angular position and the effect of the wheel's angular velocity. When these corrections were applied to the signals produced by the sensors while the HRD was rotating and no effort was being exerted on the handrim, the calculated forces and torques remained close to zero, as expected. Based on these results, the wheel dynamometer can be confidently used for studying manual wheelchair locomotion under various real conditions. The method could also be applied in other situations in which a dynamometer rotates during measurements.     

Calibration of a Hall effect displacement measurement system for complex motion analysis using a neural network

Biomechanics studies often require the analysis of position and orientation. Although a variety of transducer and camera systems can be utilized, a common inexpensive alternative is the Hall effect sensor. Hall effect sensors have been used extensively for one-dimensional position analysis but their non-linear behavior and cross-talk effects make them difficult to calibrate for effective and accurate two- and three-dimensional position and orientation analysis. The aim of this study was to develop and calibrate a displacement measurement system for a hydraulic-actuation joystick used for repetitive motion analysis of heavy equipment operators. The system utilizes an array of four Hall effect sensors that are all active during any joystick movement. This built-in redundancy allows the calibration to utilize fully connected feed forward neural networks in conjunction with a Microscribe 3D digitizer. A fully connected feed forward neural network with one hidden layer containing five neurons was developed. Results indicate that the ability of the neural network to accurately predict the x, y and z coordinates of the joystick handle was good with r(2) values of 0.98 and higher. The calibration technique was found to be equally as accurate when used on data collected 5 days after the initial calibration, indicating the system is robust and stable enough to not require calibration every time the joystick is used. This calibration system allowed an infinite number of joystick orientations and positions to be found within the range of joystick motion.     

A novel method for assessing the 3-D orientation accuracy of inertial/magnetic sensors

A novel method for assessing the accuracy of inertial/magnetic sensors is presented. The method, referred to as the “residual matrix” method, is advantageous because it decouples the sensor's error with respect to Earth's gravity vector (attitude residual error: pitch and roll) from the sensor's error with respect to magnetic north (heading residual error), while remaining insensitive to singularity problems when the second Euler rotation is close to ±90°. As a demonstration, the accuracy of an inertial/magnetic sensor mounted to a participant's forearm was evaluated during a reaching task in a laboratory. Sensor orientation was measured internally (by the inertial/magnetic sensor) and externally using an optoelectronic measurement system with a marker cluster rigidly attached to the sensor's enclosure. Roll, pitch and heading residuals were calculated using the proposed novel method, as well as using a common orientation assessment method where the residuals are defined as the difference between the Euler angles measured by the inertial sensor and those measured by the optoelectronic system. Using the proposed residual matrix method, the roll and pitch residuals remained less than 1° and, as expected, no statistically significant difference between these two measures of attitude accuracy was found; the heading residuals were significantly larger than the attitude residuals but remained below 2°. Using the direct Euler angle comparison method, the residuals were in general larger due to singularity issues, and the expected significant difference between inertial/magnetic sensor attitude and heading accuracy was not present.     

Temporal–spatial reach parameters derived from inertial sensors: Comparison to 3D marker-based motion capture

Reaching is a well-practiced functional task crucial to daily living activities, and temporal–spatial measures of reaching reflect function for both adult and pediatric populations with upper-extremity motor impairments. Inertial sensors offer a mobile and inexpensive tool for clinical assessment of movement. This research outlines a method for measuring temporal–spatial reach parameters using inertial sensors, and validates these measures with traditional marker-based motion capture. 140 reaches from 10 adults, and 30 reaches from nine children aged 18–20 months, were recorded and analyzed using both inertial-sensor and motion-capture methods. Inertial sensors contained three-axis accelerometers, gyroscopes, and magnetometers. Gravitational offset of accelerometer data was measured when the sensor was at rest, and removed using sensor orientation measured at rest and throughout the reach. Velocity was calculated by numeric integration of acceleration, using a null-velocity assumption at reach start. Sensor drift was neglected given the 1–2 s required for a reach. Temporal–spatial reach parameters were calculated independently for each data acquisition method. Reach path length and distance, peak velocity magnitude and timing, and acceleration at contact demonstrated consistent agreement between sensor- and motion-capture-based methods, for both adult and toddler reaches, as evaluated by intraclass correlation coefficients from 0.61 to 1.00. Taken together with actual difference between method measures, results indicate that these functional reach parameters may be reliably measured with inertial sensors.     

Comparison of two trunk electromagnetic sensor placement methods during shoulder motion analysis

For kinematic studies of the shoulder, electromagnetic sensors are commonly placed on the humerus, scapula, and trunk. The trunk sensor is used to describe humeral and scapular kinematics with respect to the trunk. There are two common trunk sensor placements, the sternum or third thoracic vertebrae (T3). It is currently unclear if placement of the trunk sensor affects kinematics, making it difficult to compare data across studies. The purpose of this study was to compare two trunk sensor placements (T3 and sternum) on trunk and scapular kinematics during arm elevation. An electromagnetic tracking system was used to collect kinematic data during five consecutive repetitions of ascending and descending arm elevation in the sagittal plane. The results indicate that trunk sensor placement had no significant effect on trunk kinematics or scapular upward/downward rotation and internal/external rotation. Scapular anterior/posterior tilt was significantly greater when the trunk sensor was on the sternum compared to the T3 vertebrae during ascending 30°–120°: mean difference = −3.51° (95%CI: −5.61, −1.40), and descending 120°–30°: mean difference = −3.27° (95%CI: −6.07, −0.48). However, the difference in anterior/posterior tilt did not exceed the error (minimal detectable change), and thus is likely not a meaningful difference. These results indicate the trunk sensors can be affixed on T3 or the sternum, depending on the needs of the study.     

Quantification of the segmental kinematics of spontaneous infant movements

This article introduces a method to capture the movements of the upper and the lower limb of infants using an electromagnetic tracking system and to reliably calculate the segmental kinematics. Analysis of the spontaneous movements of infants is important e.g. in the context of the "General Movement Analysis", which aims at the early diagnosis of motor dysfunctions. Due to special constraints regarding infant anatomy, previous approaches based on optical tracking could only gather position data of the infant' segments, whereas with this method in addition relative segment angles can be calculated. The spontaneous movements of the infant and simple calibration movements of the hand and the foot are used to calculate the joint centers and the joint axes of a multi-segmental chain model. The quality of the calibration movements is assessed at calibration time by calculating the root mean square deviation from the total least squares regression plane. The general accuracy of the recording is evaluated by the difference between recorded and estimated sensor positions and the difference between recorded and estimated sensor orientations. Movements of 20 infants between term and 3 months post term age were recorded and processed. A first application illustrates how abnormal movement patterns are manifested in the segmental kinematics. The results show that the presented method is a practicable and reliable way to record spontaneous infant movements and to calculate the segmental kinematics.     

A system for electromagnetic blood flow measurement with extracorporeal sinusodial field magnet

This paper describes the construction details and circuitry of a system for electromagnetic determination of blood flow by means of intravascular flow sensors passed through angiographic catheters introuced by percutaneous technique. The extracorporeal magnet coil is fed by a sinusodial current and the sinusodial induced flow signal is detected by a phase-sensitive amplifier. The main novel feature of this amplifier is a combination of phase-sensitive detection with a boxcar integrator which results in an exceptionally high signal-to-noise ratio. A two channel system is also described which permits simultaneous monitoring of a signal in phase quadrature with respect to the magnetic field and, hence, to the flow signal. This system makes it also possible to monitor variations in artery diameter which is measured through a transformer e.m.f. induced in a loop of the sensor whose area is modified by the artery diameter in a fashion securing approximate linear relationship between the artery diameter and the loop output. The loop output voltage is also used to ascertain the instrument calibration in case of an arbitrary orientation and distance from the magnet coil of the intravascular sensor.The intravascular sensor is a loop of insulated fine elastic wire which forms an oval frame which collapses as it is introduced through an intravascular catheter and expands maximally as it emerges into an artery which harbors the catheter end portion. Two diametrically opposed electrodes placed across the loop, pick up the flow signal induced in the blood stream by an extracorporeal air-core magnet coil whose magnetic axis is as nearly as possible perpendicular to the area of the sensor and to the artery axis.The paper reviews artifacts and the capabilities as well as the limitations of the method in its present form and suggests a solution for the main weakness--the inability to provide a reliable zero-based line without recourse to arrest of blood flow.     

The static accuracy and calibration of inertial measurement units for 3D orientation

Inertial measurement units (IMUs) are integrated electronic devices that contain accelerometers, magnetometers and gyroscopes. Wearable motion capture systems based on IMUs have been advertised as alternatives to optical motion capture. In this paper, the accuracy of five different IMUs of the same type in measuring 3D orientation in static situations, as well as the calibration of the accelerometers and magnetometers within the IMUs, has been investigated. The maximum absolute static orientation error was 5.2 degrees , higher than the 1 degrees claimed by the vendor. If the IMUs are re-calibrated at the time of measurement with the re-calibration procedure described in this paper, it is possible to obtain an error of less than 1 degrees , in agreement with the vendor's specifications (XSens Technologies B.V. 2005. Motion tracker technical documentation Mtx-B. Version 1.03. Available from: www.xsens.com). The new calibration appears to be valid for at least 22 days providing the sensor is not exposed to high impacts. However, if several sensors are 'daisy chained' together changes to the magnetometer bias can cause heading errors of up to 15 degrees . The results demonstrate the non-linear relationship between the vendor's orthogonality claim of < 0.1 degrees and the accuracy of 3D orientation obtained from factory calibrated IMUs in static situations. The authors hypothesise that the high magnetic dip (64 degrees ) in our laboratory may have exacerbated the errors reported. For biomechanical research, small relative movements of a body segment from a calibrated position are likely to be more accurate than large scale global motion that may have an error of up to 9.8 degrees .     

Luminance artifacts of cathode-ray tube displays for vision research.

Phosphor persistence, video bandwidth, DC restoration and high-voltage regulation affect the appearance of images presented on cathode-ray tubes (CRTs), potentially resulting in differences between nominal and actual stimuli. We illustrate these effects by measuring physical parameters of horizontal and vertical static and counter-phase flickering gratings, and we illustrate problems for vision research by measuring contrast sensitivity to these gratings. We also measured the extent to which calibration protocols actually result in the monitor being calibrated over its entire area regardless of image size. The results of our physical measurements indicate substantial differences between gratings that nominally differ only as to orientation. Consistent with these differences, our psychophysical measurements indicate different sensitivities when the bars of the gratings are parallel or orthogonal to raster lines, regardless of the retinal orientation of the gratings. The results of our calibration check show that only a small region around the target area of calibration can be regarded as effectively linearized, and only if the size of the test image used during the check is similar to the size of the calibration patch. Overall, our results indicate potentially severe problems with the use of CRTs in vision research, and we discuss some published results that are likely to have been affected by these problems.     

Patterns of translocation and metabolism of 14C-labelled IAA in the phloem of Willow

Summary When 2-¹⁴-C-labelled IAA was applied to an isolated segment of Willow via a bark abrasion the pathway of transport of this compound was found to be located in the sieve elements as evidenced by the pattern of activity found in honeydew excreted by individuals of Tuberolachnus salignus (Gmelin) feeding on the segment.Further experiments have established that polarity of transport of ¹⁴C-IAA occurs in a basipetal direction when isolated segments of willow are orientated in a vertical position, with the morphological apex uppermost. No polarity was found when segments were orientated in a vertical position with the morphological base uppermost, or when the segments were orientated in a horizontal position. The metabolism of ¹⁴C-IAA was also studied with respect to orientation. It was shown that the conversion rate of IAA to IAA aspartate was influenced by the orientation of the segment. It is considered that this is not a direct effect of orientation on the rate of metabolism of IAA.     

Determining the optimal flexion-extension axis of the elbow in vivo - a study of interobserver and intraobserver reliability

In the current study the interobserver and intraobserver reliability of a recently developed method to obtain the position and orientation vectors of the flexion-extension axis of the elbow in vivo is determined. The method uses the Flock of Birds six degrees-of-freedom electromagnetic tracking device. Ten subjects performed three trials comprising five flexion and extension cycles. The movements of the forearm with respect to the upper arm were recorded. Observer A measured two trials and observer B measured one trial. Optimal instantaneous helical axes were calculated in a humeral coordinate system for each trial. Intraclass correlation coefficients and 99% confidence intervals were computed to compare the three measurements. Zero was in the range of all the narrow confidence intervals, which is strong indication for resemblance. Interobserver intraclass correlation coefficients values for orientation vectors were good to excellent and intraobserver values were fair to good. The intraclass correlation coefficients values for position vectors were lower, probably due to the lack of variance between subjects. It is concluded that the method is reliable and can be used in certain clinical settings.     

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.     

Effect of surgery to implant motion and force sensors on vertical ground reaction forces in the ovine model

Activities of daily living (ADLs) generate complex, multidirectional forces in the anterior cruciate ligament (ACL). While calibration problems preclude direct measurement in patients, ACL forces can conceivably be measured in animals after technical challenges are overcome. For example, motion and force sensors can be implanted in the animal but investigators must determine the extent to which these sensors and surgery affect normal gait. Our objectives in this study were to determine (1) if surgically implanting knee motion sensors and an ACL force sensor significantly alter normal ovine gait and (2) how increasing gait speed and grade on a treadmill affect ovine gait before and after surgery. Ten skeletally mature, female sheep were used to test four hypotheses: (1) surgical implantation of sensors would significantly decrease average and peak vertical ground reaction forces (VGRFs) in the operated limb, (2) surgical implantation would significantly decrease single limb stance duration for the operated limb, (3) increasing treadmill speed would increase VGRFs pre- and post operatively, and (4) increasing treadmill grade would increase the hind limb VGRFs pre- and post operatively. An instrumented treadmill with two force plates was used to record fore and hind limb VGRFs during four combinations of two speeds (1.0 m/s and 1.3 m/s) and two grades (0 deg and 6 deg). Sensor implantation decreased average and peak VGRFs less than 10% and 20%, respectively, across all combinations of speed and grade. Sensor implantation significantly decreased the single limb stance duration in the operated hind limb during inclined walking at 1.3 m/s but had no effect on single limb stance duration in the operated limb during other activities. Increasing treadmill speed increased hind limb peak (but not average) VGRFs before surgery and peak VGRF only in the unoperated hind limb during level walking after surgery. Increasing treadmill grade (at 1 m/s) significantly increased hind limb average and peak VGRFs before surgery but increasing treadmill grade post op did not significantly affect any response measure. Since VGRF values exceeded 80% of presurgery levels, we conclude that animal gait post op is near normal. Thus, we can assume normal gait when conducting experiments following sensor implantation. Ultimately, we seek to measure ACL forces for ADLs to provide design criteria and evaluation benchmarks for traditional and tissue engineered ACL repairs and reconstructions.     

Method for determining the spatial position of the shoulder with ultrasound-based motion analyzer.

Several methods have been developed recently for the analysis of the spatial motion of the scapula and the arm, whereby the spatial position of shoulder bones is determined in static conditions by interrupting motion. The authors have developed a 3D motion analysis method recording scapular motion in progress with appropriate accuracy in the course of arm movements of various degrees. The objective of this study is to explore the applicability of the method developed, as well as to compare it with and verify it by other methods developed earlier. The position and displacements of shoulder bones were determined on 30 shoulders of 15 healthy people. The newly developed measurement method is based on the mechanical basic principle stating that the position and motion of a rigid body -- in this case, the bones (segments) forming the shoulder joint -- can be calculated at any moment from the spatial coordinates of three points of a segment and any changes thereof in the course of motion. Ultrasound-based triplets providing the three points (fundamental points) by a segment as required for measurement were fixed on the sternum (modeling the trunk), the clavicle, the acromion (modeling the scapula), the upper arm, and the lower arm. The position of the sixteen anatomical points involved in the study were determined by an ultrasound-based pointer in the local coordinate system specified by the fundamental points before starting measurements. The ZEBRIS ultrasound-based motion analysis system was used for measuring the spatial coordinates of triplets in the course of continuous motion. The spatial coordinates of the designated anatomical points can be calculated by the method of triangulation. The method was calibrated by a ZEBRIS mapping (3DCAD) software commercially available, and the measurement error rate of the method was determined by statistical calculations. On the basis of calibration and error calculations it could be established that the accuracy and the reproducibility of the method were appropriate, in accordance with the limit values to be found in the literature.     

Human activity recognition based on Evolving Fuzzy Systems

Environments equipped with intelligent sensors can be of much help if they can recognize the actions or activities of their users. If this activity recognition is done automatically, it can be very useful for different tasks such as future action prediction, remote health monitoring, or interventions. Although there are several approaches for recognizing activities, most of them do not consider the changes in how a human performs a specific activity. We present an automated approach to recognize daily activities from the sensor readings of an intelligent home environment. However, as the way to perform an activity is usually not fixed but it changes and evolves, we propose an activity recognition method based on Evolving Fuzzy Systems.     

A Novel System for Spectral Analysis of Solar Radiation within a Mixed Beech-Spruce Stand

Abstract: A multi-sensor system is described, based on a 1024 channel diode array spectrometer, to measure spectral radiant flux density in the range of 380 nm to 850 nm, with a resolution of 0.8 nm in minimal 16 milliseconds integration time per sensor (noon, clear sky conditions). 264 space-integrating 4π sensors deployed in the canopies and 2 m above stand floor are sequentially connected to the spectrometer by means of 30-m long fibre optics. During low-level conditions (dawn, overcast sky) the system automatically lengthens the integration time of the spectrometer. About 3 sec per sensor, i.e., 13 min for the total of 264 sensors (worst case) are needed to collect spectral energy data, store them on hard disk and move the channel multiplexer to the next fibre optic position. The detection limit of quartz fibre sensors is 0.2 W/m²; precision and absolute error of radiant flux density are smaller than 3 % and 10 %, respectively.
The system, operating since 1999, is derived from a 20-sensor pilot system developed for PAR measurements (PMMA fibre sensor, 400nm to 700 nm).
Data achieved with the system serve to determine vertical profiles of wavelength dependent radiation extinction, with special respect to R/FR ratios and to develop a model of spectral radiation distribution in a mature forest stand, prerequisites for the computation of carbon gain of the stand and the evaluation of stand growth models.     

Determination of 3D spinal kinematics without defining a local vertebral coordinate system

In this paper a method is presented to calculate Euler's angles of rotation of a body segment during locomotion without a priori defining the location of the center of rotation, and without defining a local vertebral coordinate system. The method was applied to in vivo spinal kinematics. In this method, the orientation of each segment is identified by a set of three markers. The orientation of the axes of rotation is calculated based on the average position of the markers during one stride cycle. Some restrictions and assumptions should be made. The approach is viable only when the average orientation of the anatomical axes of rotation of each spinal segment during a stride cycle coincides with the three axes of the laboratory coordinate system. Furthermore, the rotations should be symmetrical with respect to both sides of the plane of symmetry of the spinal segment, and the subject should move parallel to one axis of the laboratory coordinate system. Since in experimental conditions these assumptions will only be met approximately, errors will be introduced in the calculated angles of rotation. The magnitude of the introduced errors was investigated in a computer simulation experiment. Since the maximal errors did not exceed 0.7° in a range of misalignments up to 10° between the two coordinate systems, the approach proved to be a valid method for the estimation of spinal kinematics.