A quantitative method for evaluation of 6 degree of freedom virtual reality systems

Modern virtual reality systems such as the HTC Vive enable users to be immersed in a virtual world. Validation of the HTC Vive and other contemporaneous systems for use in clinic, research, and industry applications will assure users and developers that games and applications made for these systems are accurate representations of the real world. The purpose of this study was to develop a standardized method for testing the translational and rotational capabilities of VR systems such as the HTC Vive. The translational and rotational capabilities of the HTC Vive were investigated using an industry grade robot arm and a gold standard motion capture system. It was found that the average difference between reported translational distances traveled was 0.74 ± 0.42 mm for all room-scale calibration trials and 0.63 ± 0.27 mm for all standing calibration trials. The mean difference in angle rotated was 0.46 ± 0.46° for all room-scale calibration trials and 0.66 ± 0.40° for all standing calibration trials. When tested using human movement, the average difference in distance traveled was 3.97 ± 3.37 mm. Overall, the HTC Vive shows promise as a tool for clinic, research, and industry and its controllers can be accurately tracked in a variety of situations. The methodology used for this study can easily be replicated for other VR systems so that direct comparisons can be made as new systems become available.     

Directional bias of soft-tissue artifacts on the acromion during recording of 3D scapular kinematics

Scapular kinematics during sports performances can be recorded using skin-mounted trackers attached to the skin overlying the acromion for continuous data collection without restricting natural motions of the subject relative to medical imaging analyses limiting its use for wide-range or high-speed motions. This study aimed to describe the existence of a directional bias in the translational and rotational errors of skin-mounted trackers using a 3D magnetic resonance imaging (3D-MRI) protocol. 3D-MRI scans of the healthy right shoulders of 19 males were acquired in 12 arm positions. The relative transformation of the scapular configuration determined to be the measurement error, as recorded by the configuration of the small cuboid imitating a skin-mounted tracker relative to the actual scapular configuration measured by the voxel-based registration. These measurement errors were expressed with either positive or negative values to describe the bias. Overall translational errors in the lateral, anterior, and superior directions were 3.7 ± 8.4 mm, 9.5 ± 6.4 mm, and 6.2 ± 4.6 mm, respectively. Overall rotational errors in protraction, upward rotation, and posterior tilt were 7.8 ± 8.4°, 0.2 ± 7.4°, and − 4.0 ± 7.5°, respectively. The skin-mounted tracker displayed a high probability of displacement in antero-superior (93% and 91%) directions and rotates in a protracting manner (82%) relative to the position of the underlying bone with the gradual nature of its change. The existence of the directional bias with its gradual change suggests a statistical predictability in measurement errors, which can be used to predict accurate scapular translation and rotation.     

Error in the description of foot kinematics due to violation of rigid body assumptions

Kinematic data from rigid segment foot models inevitably includes errors because the bones within each segment move relative to each other. This study sought to define error in foot kinematic data due to violation of the rigid segment assumption. The research compared kinematic data from 17 different mid and forefoot rigid segment models to kinematic data of the individual bones comprising these segments. Kinematic data from a previous dynamic cadaver model study was used to derive individual bone as well as foot segment kinematics.Mean and maximum errors due to violation of the rigid body assumption varied greatly between models. The model with least error was the combination of navicular and cuboid (mean errors <=1.3°, average maximum error <=2.4°). Greatest error was seen for the model combining all the ten bones (mean errors <=4.4°, average maximum errors <=6.9°). Based on the errors reported a three segment mid and forefoot model is proposed: (1) Navicular and cuboid, (2) cuneiforms and metatarsals 1, 2 and 3, and (3) metatarsals 4 and 5. However the utility of this model will depend on the precise purpose of the in vivo foot kinematics research study being undertaken.     

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.     

Concurrent validity and reliability of a mobile tracking technology to measure angular and linear movements of the neck

The neck can be moved in six degrees of freedom. Current 3D-optoelectronic motion-capture systems capable of measuring these movements are inappropriate for use in clinical practice because they are stationary, expensive and time-consuming. We therefore developed a less complex 3D-tracking technology based on Steam®VR to measure six degrees of freedom in a clinical setting. The aim of this study was to assess the validity and reliability of this system.The developed prototype consists of two infrared-emitting lighthouses and sensors, mounted on the participant’s helmet and trunk belt, to detect the orientation of the head and trunk. The system was evaluated by means of an infrared light-reflecting marker tracking system. Twenty healthy participants, equipped with these sensors and markers, performed thirteen neck movement tasks. Linear and angular movements were measured. These tasks were repeated after six to eight days to assess test-retest reliability. Concurrent validity was assessed by the root mean square error, and reliability with generalizability theory.With an average root mean square error between 1.2 and 2.0° in angular and 0.4–0.5 cm in linear movements, the prototype was shown to precisely track these movements. Reliability of the prototype and the reference system was comparable for all tasks. A high contribution of participant’s variability to the observed variance was generally detected, with the exception of joint repositioning error and upper cervical flexion.The reliability was task-specific and did not differ between the systems. The prototype system was shown to be valid, although the reliability of the repositioning and upper cervical flexion tests needs to be reconsidered.     

Feasibility of using combined EMG and kinematic signals for prosthesis control: A simulation study using a virtual reality environment

Transhumeral amputation has a significant effect on a person’s independence and quality of life. Myoelectric prostheses have the potential to restore upper limb function, however their use is currently limited due to lack of intuitive and natural control of multiple degrees of freedom. The goal of this study was to evaluate a novel transhumeral prosthesis controller that uses a combination of kinematic and electromyographic (EMG) signals recorded from the person’s proximal humerus. Specifically, we trained a time-delayed artificial neural network to predict elbow flexion/extension and forearm pronation/supination from six proximal EMG signals, and humeral angular velocity and linear acceleration. We evaluated this scheme with ten able-bodied subjects offline, as well as in a target-reaching task presented in an immersive virtual reality environment. The offline training had a target of 4° for flexion/extension and 8° for pronation/supination, which it easily exceeded (2.7° and 5.5° respectively). During online testing, all subjects completed the target-reaching task with path efficiency of 78% and minimal overshoot (1.5%). Thus, combining kinematic and muscle activity signals from the proximal humerus can provide adequate prosthesis control, and testing in a virtual reality environment can provide meaningful data on controller performance.     

Propagation of errors from skull kinematic measurements to finite element tissue responses

Real-time quantification of head impacts using wearable sensors is an appealing approach to assess concussion risk. Traditionally, sensors were evaluated for accurately measuring peak resultant skull accelerations and velocities. With growing interest in utilizing model-estimated tissue responses for injury prediction, it is important to evaluate sensor accuracy in estimating tissue response as well. Here, we quantify how sensor kinematic measurement errors can propagate into tissue response errors. Using previous instrumented mouthguard validation datasets, we found that skull kinematic measurement errors in both magnitude and direction lead to errors in tissue response magnitude and distribution. For molar design instrumented mouthguards susceptible to mandible disturbances, 150–400% error in skull kinematic measurements resulted in 100% error in regional peak tissue response. With an improved incisor design mitigating mandible disturbances, errors in skull kinematics were reduced to <50%, and several tissue response errors were reduced to <10%. Applying 30\(^{\circ }\) rotations to reference kinematic signals to emulate sensor transformation errors yielded below 10% error in regional peak tissue response; however, up to 20% error was observed in peak tissue response for individual finite elements. These findings demonstrate that kinematic resultant errors result in regional peak tissue response errors, while kinematic directionality errors result in tissue response distribution errors. This highlights the need to account for both kinematic magnitude and direction errors and accurately determine transformations between sensors and the skull.     

A proposal for optical diagnostics through the enhancement of diffraction patterns using thin-film interference filters

Coarse clumping of solid materials within diseased biological cells can have a marked influence on the light scattering pattern. Perturbations in refractive index lead to distinct variations in the cytometric signature, especially apparent over wide scattering angles. The large dynamic range of scattering intensities restricts collection of data to narrow angular intervals believed to have the highest potential for medical diagnosis. We propose the use of an interference filter to reduce the dynamic range. Selective attenuation of scattering intensity levels is expected to allow simultaneous data collection over a wide angular interval. The calculated angular transmittance of a commercial shortwave-pass filter of cut-off wavelength 580 nm indicates significant attenuation of scattering peaks below ∼10°, and reasonable peak equalization at higher angles. For the three-dimensional calculation of laser light scattered by cells we use a spectral method code that models cells as spatially varying dielectrics, stationary in time. However, we perform preliminary experimental testing with the interference filter on polystyrene microspheres instead of biological cells. A microfluidic toolkit is used for the manipulation of the microspheres. The paper intends to illustrate the principle of a light scattering detection system incorporating an interference filter for selective attenuation of scattering peaks.     

Simultaneous Recordings of Human Microsaccades and Drifts with a Contemporary Video Eye Tracker and the Search Coil Technique

Human eyes move continuously, even during visual fixation. These “fixational eye movements” (FEMs) include microsaccades, intersaccadic drift and oculomotor tremor. Research in human FEMs has grown considerably in the last decade, facilitated by the manufacture of noninvasive, high-resolution/speed video-oculography eye trackers. Due to the small magnitude of FEMs, obtaining reliable data can be challenging, however, and depends critically on the sensitivity and precision of the eye tracking system. Yet, no study has conducted an in-depth comparison of human FEM recordings obtained with the search coil (considered the gold standard for measuring microsaccades and drift) and with contemporary, state-of-the art video trackers. Here we measured human microsaccades and drift simultaneously with the search coil and a popular state-of-the-art video tracker. We found that 95% of microsaccades detected with the search coil were also detected with the video tracker, and 95% of microsaccades detected with video tracking were also detected with the search coil, indicating substantial agreement between the two systems. Peak/mean velocities and main sequence slopes of microsaccades detected with video tracking were significantly higher than those of the same microsaccades detected with the search coil, however. Ocular drift was significantly correlated between the two systems, but drift speeds were higher with video tracking than with the search coil. Overall, our combined results suggest that contemporary video tracking now approaches the search coil for measuring FEMs.     

Quantitative assessment of trunk deformation during running

The trunk has a multi-segmental structure and is composed of the cervical, thoracic, and lumber spines and surrounding soft tissue elements; this allows flexible deformation during dynamic movements. The purpose of this study was to quantitatively assess trunk deformation during dynamic movement. Ten male subjects performed running at four different speeds: 8 km/h, 10 km/h, 12 km/h, and 14 km/h. Forty reflective markers were placed on the backs of these individuals to define 56 small triangular areas, and three-dimensional kinematic data was recorded with a motion capture system. The coefficients of variation (CV) of the horizontal and vertical lengths between two adjacent markers and the standard deviation (SD) of the normal vectors of triangular areas were calculated as measures for translational and angular trunk deformation, respectively. Up to about 14% of CV and 78° of SD appeared as the measure of translational and angular deformation, respectively. These results imply that the trunk underwent a significant amount of position-specific deformation. These findings would be useful in the construction of an optimal trunk segment model to represent the complex and flexible trunk movement during dynamic movements.     

Driving a musculoskeletal model with inertial and magnetic measurement units

We developed and evaluated a new kinematic driver for musculoskeletal models using ambulatory inertial and magnetic measurement units (IMMUs). The new driver uses the orientation estimates based on sensor fusion of each individual IMMU and benefits from two important properties of musculoskeletal models. First, these models contain more complex, anatomical, kinematic models than those currently used for sensor fusion of multiple IMMUs and are continuously improved. Second, they allow movement between segment and measured sensor. For three different tasks, the new IMMU driver, (optical) marker drivers and a combination of both were used to reconstruct the motion. Maximal root mean square (RMS) joint angle differences with respect to the silver standard (combined IMMU/marker drivers) were found for the hip joint; 4°, 2° and 5° during squat, gait and slideboard tasks for IMMU-driven reconstructions, compared with 6°, 5° and 5° for marker-driven reconstructions, respectively. The measured angular velocities corresponded best to the IMMU-driven reconstructions, with a maximal RMS difference of 66°/s, compared with 108°/s and 91°/s for marker-driven reconstructions and silver standard. However, large oscillations in global accelerations occurred during IMMU-driven reconstructions resulting in a maximal RMS difference with respect to measured acceleration of 23 m/s², compared with 9 m/s² for reconstructions that included marker drivers. The new driver facilitates direct implementation of IMMU-based orientation estimates in currently available biomechanical models. As such, it can help in the rapid expansion of biomechanical analysis based on outdoor measurements.     

An Integrated Vehicle-Mounted Telemetry System for VHF Telemetry Applications

Abstract: We designed and developed a vehicle-mounted very high frequency-based telemetry system that integrated an on-board antenna, receiver, electronic compass, Global Positioning System, computer, and Geographic Information System. The system allows users to accurately and quickly obtain fixes, estimate and confirm locations of radiomarked animals, and immediately record data into an electronic spreadsheet or database. The total cost of materials to build the system was $7,349 (United States currency). Mean error angle of 2.63 ± 12.1° (SD; range = −33.7–42.2°) and mean location error distance of 128 ± 91.3 m (SD; range = 0–408 m) suggested precision and accuracy of our system were comparable to other reported systems. Mean time to record 5 bearings/test transmitter was 6.28 ± 0.24 minutes (SE), which is the most efficient system reported to locate animals in the field. Vehicle-mounted telemetry systems like ours provide additional value to studies that involve tracking highly mobile species because investigators need not take bearings from established receiving stations and because investigators can immediately recognize bounced signals and take additional bearings and optimize accuracy of location estimates.     

Motor control of voluntary arm movements

The motor control of pointing and reaching-to-grasp movements was investigated using two different approaches (kinematic and modelling) in order to establish whether the type of control varies according to modifications of arm kinematics. Kinematic analysis of arm movements was performed on subjects' hand trajectories directed to large and small stimuli located at two different distances. The subjects were required either to grasp and to point to each stimulus. The kinematics of the subsequent movement, during which subject's hand came back to the starting position, were also studied. For both movements, kinematic analysis was performed on hand linear trajectories as well as on joint angular trajectories of shoulder and elbow. The second approach consisted in the parametric identification of the black box (ARMAX) model of the controller driving the arm movement. Such controller is hypothesized to work for the correct execution of the motor act. The order of the controller ARMAX model was analyzed with respect to the different experimental conditions (distal task, stimulus size and distance). Results from kinematic analysis showed that target distance and size influenced kinematic parameters both of angular and linear displacements. Nevertheless, the structure of the motor program was found to remain constant with distane and distal task, while it varied with precision requirements due to stimulus size. The estimated model order of the controller confirmed the invariance of the control law with regard to movement amplitude, whereas it was sensitive to target size.     

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.     

Utilization of autochthonous macroinvertebrate drift by a pool fish community in a woodland stream

Qualitative and quantitative drift data were collected simultaneously above and below a pool both before and after the pool was heavily electrofished. These data revealed no significant difference between drift organism densities (#/m³) above or below the pool before or after fish collection. Qualitative and quantitative fish gut analyses suggest that the sunfishes Lepomis megalotis, L. macrochirus and L. cyanellus may be feeding on drifting invertebrates as these organisms comprised 58%, 37% and 35% gut volume, respectively. A design for a long-term drift net apparatus is presented.     

Head mounted displays for capturing head kinematics in postural tasks

Tracking head motion in a simple, portable and accurate manner during performance of postural tasks in a virtual reality environment could have important implications for investigating normal and pathological head kinematics. We investigated concurrent validity of head tracking of two Head Mounted Displays (HMDs), Oculus Rift and HTC Vive, vs. a gold-standard motion capture system (Qualisys). Head kinematics of N = 20 healthy young adults was quantified during static and dynamic postural tasks. While wearing the Oculus Rift or HTC Vive, participants observed moving stars (static tasks) or a flying ball (dynamic task). Head kinematics were recorded simultaneously by the Rift or Vive and Qualisys camera system. We calculated head directional path, acceleration in 6 directions and volume of translation movement. Intra-Class Correlations (ICC) and 95% Limits of agreement were calculated. Most ICC values were around 0.9 with several at 0.99 indicating excellent agreement between the HMDs and Qualisys. Weaker agreement was observed for vertical displacement during a static task and moderate agreement was observed pitch and yaw displacement during a dynamic task. A negative bias of a small magnitude (indicating more movement in VR) was observed for most variables in static tasks, while a positive bias was observed for most variables in the dynamic task (indicating less movement in VR). Our results generally support the concurrent validity of Oculus Rift and HTC Vive head tracking during static and dynamic standing tasks in healthy young adults. Specific task- and direction-dependent differences should be considered when planning measurement studies using these novel tools.     

Interpolating three-dimensional kinematic data using quaternion splines and hermite curves

Kinematic interpolation is an important tool in biomechanics. The purpose of this work is to describe a method for interpolating three-dimensional kinematic data, minimizing error while maintaining ease of calculation. This method uses cubic quaternion and hermite interpolation to fill gaps between kinematic data points. Data sets with a small number of samples were extracted from a larger data set and used to validate the technique. Two additional types of interpolation were applied and then compared to the cubic quaternion interpolation. Displacement errors below 2% using the cubic quaternion method were achieved using 4% of the total samples, representing a decrease in error over the other algorithms.     

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°, higher than the 1° 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°, 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°. The results demonstrate the non-linear relationship between the vendor's orthogonality claim of < 0.1° and the accuracy of 3D orientation obtained from factory calibrated IMUs in static situations. The authors hypothesise that the high magnetic dip (64°) 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°.