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.     

Journey to the centre of the cell: Virtual reality immersion into scientific data

Visualization of scientific data is crucial not only for scientific discovery but also to communicate science and medicine to both experts and a general audience. Until recently, we have been limited to visualizing the three‐dimensional (3D) world of biology in 2 dimensions. Renderings of 3D cells are still traditionally displayed using two‐dimensional (2D) media, such as on a computer screen or paper. However, the advent of consumer grade virtual reality (VR) headsets such as Oculus Rift and HTC Vive means it is now possible to visualize and interact with scientific data in a 3D virtual world. In addition, new microscopic methods provide an unprecedented opportunity to obtain new 3D data sets. In this perspective article, we highlight how we have used cutting edge imaging techniques to build a 3D virtual model of a cell from serial block‐face scanning electron microscope (SBEM) imaging data. This model allows scientists, students and members of the public to explore and interact with a “real” cell. Early testing of this immersive environment indicates a significant improvement in students’ understanding of cellular processes and points to a new future of learning and public engagement. In addition, we speculate that VR can become a new tool for researchers studying cellular architecture and processes by populating VR models with molecular data.      

Reciprocal influences on performances of a postural–suprapostural task by manipulating the level of task-load

The objective of this study was to investigate the reciprocal influences of stance pattern (bilateral stance vs. unilateral stance) and thumb-index precision grip task (static target vs. dynamic target) on postural–suprapostural tasks by manipulating task-load. Fifteen healthy volunteers participated in four postural–suprapostural tasks, including static force-matching in bilateral/unilateral stance (BS_static; US_static), dynamic force-matching in bilateral/unilateral stance (BS_dynamic; US_dynamic), and two control tasks in bilateral and unilateral stances without a finger task. The normalized force error (NFE), reaction time (RT) of the finger tasks, and normalized change in center of pressure sway (ΔNCoP) were measured. For suprapostural task performance, a significant interaction effect between postural and suprapostural tasks on NFE of the finger tasks was noted (static: BS < US; dynamic: BS > US), but RT was not different among the four tasks. For postural task performance, negative ΔNCoP during unilateral stance indicated a spontaneous reduction in postural sway due to added force-matching. In contrast, addition of force-matching tended to increase postural sway during bilateral stance, but postural fluctuations decreased as task-load of suprapostural task increased (BS_dynamic < BS_static). In conclusion, performance of postural–suprapostural tasks was differently modulated by task-load increment. Our observations favored adaptive resource-sharing and implicit expansion of resource capacity for a postural task with a motor suprapostural goal.     

The influence of initial posture on the sit-to-stand movement

Head movements, ground reaction forces and electromyographic activity of selected muscles were recorded simultaneously from two subjects as they performed the sit-to-stand manouevre under a variety of conditions. The influence of initial leg posture on the magnitude of the various parameters under investigation was examined first. A preferred initial leg posture resulted in smaller magnitudes of head movement and ground reaction forces. EMG activity in some muscles, trapezius and erector spinae, decreased, while in others, quadriceps and hamstrings, it increased in the preferred leg posture. The decreases seen correlate with reductions in head movement observed. The effect of inhibiting habitual postural adjustments of the head and neck, by comparing "free" and "guided" movements was also examined. In guided movements there are significant reductions in head movement, ground reaction forces and EMG activity in trapezius, sternomastoid and erector spinae. It would appear that both initial leg posture and the abolition of habitual postural adjustment have a profound influence on the efficiency of the sit-to-stand manouevre. This preliminary study high-lights the practical importance of head posture in the diagnosis and treatment of movement disorders, as well as in movement education.     

Corticospinal Excitability of Trunk Muscles during Different Postural Tasks

Evidence suggests that the primary motor cortex (M1) is involved in both voluntary, goal-directed movements and in postural control. Trunk muscles are involved in both tasks, however, the extent to which M1 controls these muscles in trunk flexion/extension (voluntary movement) and in rapid shoulder flexion (postural control) remains unclear. The purpose of this study was to investigate this question by examining excitability of corticospinal inputs to trunk muscles during voluntary and postural tasks. Twenty healthy adults participated. Transcranial magnetic stimulation was delivered to the M1 to examine motor evoked potentials (MEPs) in the trunk muscles (erector spinae (ES) and rectus abdominis (RA)) during dynamic shoulder flexion (DSF), static shoulder flexion (SSF), and static trunk extension (STE). The level of background muscle activity in the ES muscles was matched across tasks. MEP amplitudes in ES were significantly larger in DSF than in SSF or in STE; however, this was not observed for RA. Further, there were no differences in levels of muscle activity in RA between tasks. Our findings reveal that corticospinal excitability of the ES muscles appears greater during dynamic anticipatory posture-related adjustments than during static tasks requiring postural (SSF) and goal-directed voluntary (STE) activity. These results suggest that task-oriented rehabilitation of trunk muscles should be considered for optimal transfer of therapeutic effect to function.     

Accuracy of biplane videoradiography for quantifying dynamic wrist kinematics

Accurately assessing the dynamic kinematics of the skeletal wrist could advance our understanding of the normal and pathological wrist. Biplane videoradiography (BVR) has allowed investigators to study dynamic activities in the knee, hip, and shoulder joint; however, currently, BVR has not been utilized for the wrist joint because of the challenges associated with imaging multiple overlapping bones. Therefore, our aim was to develop a BVR procedure and to quantify its accuracy for evaluation of wrist kinematics. BVR was performed on six cadaveric forearms for one neutral static and six dynamic tasks, including flexion-extension, radial-ulnar deviation, circumduction, pronation, supination, and hammering. Optical motion capture (OMC) served as the gold standard for assessing accuracy. We propose a feedforward tracking methodology, which uses a combined model of metacarpals (second and third) for initialization of the third metacarpal (MC3). BVR-calculated kinematic parameters were found to be consistent with the OMC-calculated parameters, and the BVR/OMC agreement had submillimeter and sub-degree biases in tracking individual bones as well as the overall joint’s rotation and translation. All dynamic tasks (except pronation task) showed a limit of agreement within 1.5° for overall rotation, and within 1.3 mm for overall translations. Pronation task had a 2.1° and 1.4 mm limit of agreement for rotation and translation measurement. The poorest precision was achieved in calculating the pronation-supination angle, and radial-ulnar and volar-dorsal translational components, although they were sub-degree and submillimeter. The methodology described herein may assist those interested in examining the complexities of skeletal wrist function during dynamic tasks.     

Virtual reality as a tool for evaluation of repetitive rhythmic movements in the elderly and Parkinson's disease patients

This work presents an immersive Virtual Reality (VR) system to evaluate, and potentially treat, the alterations in rhythmic hand movements seen in Parkinson's disease (PD) and the elderly (EC), by comparison with healthy young controls (YC). The system integrates the subjects into a VR environment by means of a Head Mounted Display, such that subjects perceive themselves in a virtual world consisting of a table within a room. In this experiment, subjects are presented in 1(st) person perspective, so that the avatar reproduces finger tapping movements performed by the subjects. The task, known as the finger tapping test (FT), was performed by all three subject groups, PD, EC and YC. FT was carried out by each subject on two different days (sessions), one week apart. In each FT session all subjects performed FT in the real world (FT(REAL)) and in the VR (FT(VR)); each mode was repeated three times in randomized order. During FT both the tapping frequency and the coefficient of variation of inter-tap interval were registered. FT(VR) was a valid test to detect differences in rhythm formation between the three groups. Intra-class correlation coefficients (ICC) and mean difference between days for FT(VR) (for each group) showed reliable results. Finally, the analysis of ICC and mean difference between FT(VR) vs FT(REAL), for each variable and group, also showed high reliability. This shows that FT evaluation in VR environments is valid as real world alternative, as VR evaluation did not distort movement execution and detects alteration in rhythm formation. These results support the use of VR as a promising tool to study alterations and the control of movement in different subject groups in unusual environments, such as during fMRI or other imaging studies.     

Lateral hop movement assesses ankle dynamics and muscle activity

Ankle function is frequently measured using static or dynamic tasks in normal and injured patients. The purpose of this study was to develop a novel task to quantify ankle dynamics and muscle activity in normal subjects. Twelve subjects with no prior ankle injuries participated. Video motion analysis cameras, force platforms, and an EMG system were used to collect data during a lateral hop movement task that consisted of multiple lateral-medial hops over an obstacle. Mean (SD) inversion ankle position at contact was 4.4° (4.0) in the medial direction and -3.5° (4.4) in the lateral direction; mean (SD) tibialis anterior normalized muscle activity was 0.11 (0.08) in the medial direction and 0.16 (0.13) in the lateral direction. The lateral hop movement was shown to be an effective task for quantifying ankle kinematics, forces, moments, and muscle activities in normal subjects. Future applications will use the lateral hop movement to assess subjects with previous ankle injuries in laboratory and clinical settings.     

Adaptive changes in running kinematics as a function of head stability demands and their effect on shock transmission

This study aimed to identify adaptive changes in running kinematics and impact shock transmission as a function of head stability requirements. Fifteen strides from twelve recreational runners were collected during preferred speed treadmill running. Head stability demands were manipulated through real-time visual feedback that required head-gaze orientation to maintain within boxes of different sizes, ranging from 21° to 3° of visual angle with 3° decrements. The main outcome measures were tibial and head peak accelerations in the time and frequency domains (impact and active phases), shock transmission from tibia to head, stride parameters, and sagittal plane joint kinematics. Increasing head stability requirements resulted in decreases in the amplitude and integrated power of head acceleration during the active phase of stance. During the impact portion of stance tibial and head acceleration and shock transmission remained similar across visual conditions. In response to increased head stability requirements, participants increased stride frequency approximately 8% above preferred, as well as hip flexion angle at impact; stance time and knee and ankle joint angles at impact did not change. Changes in lower limb joint configurations (smaller hip extension and ankle plantar-flexion and greater knee flexion) occurred at toe-off and likely contributed to reducing the vertical displacement of the center of mass with increased head stability demands. These adaptive changes in the lower limb enabled runners to increase the time that voluntary control is allowed without embedding additional impact loadings, and therefore active control of the head orientation was facilitated in response to different visual task constraints.     

Comparison of Trunk Activity during Gait Initiation and Walking in Humans

To understand the role of trunk muscles in maintenance of dynamic postural equilibrium we investigate trunk movements during gait initiation and walking, performing trunk kinematics analysis, Erector spinae muscle (ES) recordings and dynamic analysis. ES muscle expressed a metachronal descending pattern of activity during walking and gait initiation. In the frontal and horizontal planes, lateroflexion and rotation occur before in the upper trunk and after in the lower trunk. Comparison of ES muscle EMGs and trunk kinematics showed that trunk muscle activity precedes corresponding kinematics activity, indicating that the ES drive trunk movement during locomotion and thereby allowing a better pelvis mobilization. EMG data showed that ES activity anticipates propulsive phases in walking with a repetitive pattern, suggesting a programmed control by a central pattern generator. Our findings also suggest that the programs for gait initiation and walking overlap with the latter beginning before the first has ended.     

Effects of coupled upper limbs movements on postural stabilisation

The preference for in-phase association of coupled cyclic limbs movements is well described (mirror-symmetrical patterns) and this is demonstrated by the ease of performing in-phase movements compared to anti-phase ones. The hypothesis of this study is that the easiest movement patterns are those with minor postural activity. The aim of this study was to describe postural activity in standing subjects in the sagittal and frontal planes during the execution of three upper limbs tasks (single arm, in-phase, anti-phase) at four different frequencies (from 0.6 to 1.2 Hz).We employed six infrared cameras for recording kinematics information, a force platform for measuring forces exerted on the ground, and a system for surface electromyography (SEMG). Outcome measures were: upper limb range of movement and relative-phase, centre of pressure displacement (COP), screw torque (T_z) exerted on the ground, and SEMG recordings of postural muscles (adductor longus, gluteus medius, rectus femoris, and biceps femoris).Our results show that in both the planes the in-phase task resulted in less COP displacement, torque production, and postural muscles involvement than the anti-phase and single arm tasks. This reduced need of postural control could explain the ease of performing in-phase coupled limb movements compared with anti-phase movements.     

Postural adjustments to head movements in the cat

Head movements induced by motor cortex stimulation in the cat are accompanied by variations in the vertical force exerted by each limb. These postural responses were found to show stereotyped patterns: with head dorsiflexions an increase was observed in the force exerted by the anterior limbs and a decrease at the posterior limb level. From comparison between the latencies of the force variations, the beginning of head acceleration, and EMG activity in the limb extensor muscles, it was concluded that triggering of these postural responses is not reflex, but depends on the same command as the movement itself. This early response might be a means of avoiding the downward movement of the trunk which would otherwise result from the reaction force corresponding to the upward head movement.     

Load changes in limbs during orienting in non-restrained cats

We simultaneously investigated eye and head movements and postural adjustment during orienting by measuring load force exerted by four limbs in cats. When light is moved from the fixation point to the target position, the head first begins moving towards the target position, and the eye moves in the opposite direction due to the vestibulo-ocular reflex (VOR). Later, the eye moves quickly in the target direction by saccade, synchronous with the remaining rapid head orientation movement. Head movement is classified as either 'head rotation' or 'head translation'. During head rotation, the load force in ipsilateral limb to the target position decreased, and that in the contralateral limb increased. During head translation, on the contrary, load force in the ipsilateral limb increased and that in the contralateral limb decreased. This phenomenon was observed in fore- and hindlimbs. The latencies of head movement are very similar with those of the load force change in many trials, and in case in which the head movement has short latency, the amount of load force change is larger. In contrast, when head movement has long latency, the amount of load force change is smaller. In a previous study, we recorded two types of neurons from ponto-medullary reticular formation. The firing of these neurons was related with head movement. The cervical reticulospinal neuron (C-RSN) in ponto-medullary reticular formation got off collateral to both neck and forelimb motoneurons. These types were named phasic neuron (PN) and phasic sustained neuron (PSN). We discuss the relation between load changes and the two types of neurons and postural adjustment during orienting.     

A new method to analyze postural stability during a transition task from double-leg stance to single-leg stance

Time to stabilization (TTS) has been introduced as a method to analyze dynamic postural stability during jump and landing tasks, but has also been applied during the transition task from double-leg stance (DLS) to single-leg stance (SLS). However, the application of the originally described TTS technique during the latter task has some important limitations. The first goal of this study was to present an adapted version of the TTS technique to provide an effective alternative method to better analyze postural stability during the transition from DLS to SLS. The second goal was to study the influence of pathology and different speeds on postural stability outcomes. Fifteen healthy control subjects and 15 subjects with chronic ankle instability (CAI) performed the transition task on their preferred speed and as fast as possible, with eyes open and with eyes closed. Subjects with CAI performed the transition significantly slower when moving at their preferred speed with eyes closed. The time subjects needed to reach a new stability point was not discriminative between groups and largely dependent on movement speed. However, the amount of sway after this new stability point was significantly increased in the CAI group and when eyes were closed. The results of this study suggest that subjects with CAI have a decreased ability to overcome the postural perturbation created by the voluntary movement from DLS to SLS. Focusing only on TTS during the transition from DLS to SLS may lead at least in some cases to misinterpretations when assessing postural stability.     

Effect of implementing magnetic resonance imaging for patient-specific OpenSim models on lower-body kinematics and knee ligament lengths

BackgroundOpenSim models are typically based on cadaver findings that are generalized to represent a wide range of populations, which curbs their validity. Patient-specific modelling through incorporating magnetic resonance imaging (MRI) improves the model’s biofidelity with respect to joint alignment and articulations, muscle wrapping, and ligament insertions. The purpose of this study was to determine if the inclusion of an MRI-based knee model would elicit differences in lower limb kinematics and resulting knee ligament lengths during a side cut task.MethodsEleven participants were analyzed with the popular Rajagopal OpenSim model, two variations of the same model to include three and six degrees of freedom knee (DOF), and a fourth version featuring a four DOF MRI-based knee model. These four models were used in an inverse kinematics analysis of a side cut task and the resulting lower limb kinematics and knee ligament lengths were analyzed.ResultsThe MRI-based model was more responsive to the movement task than the original Rajagopal model while less susceptible to soft tissue artifact than the unconstrained six DOF model. Ligament isometry was greatest in the original Rajagopal model and smallest in the six DOF model.ConclusionsWhen using musculoskeletal modelling software, one must acutely consider the model choice as the resulting kinematics and ligament lengths are dependent on this decision. The MRI-based knee model is responsive to the kinematics and ligament lengths of highly dynamic tasks and may prove to be the most valid option for continuing with late-stage modelling operations such as static optimization.     

Inverse dynamic investigation of voluntary leg lateral movements in weightlessness: a new microgravity-specific strategy

This study deals with the quantitative assessment of exchanged forces and torques at the restraint point during whole body posture perturbation movements in long-term microgravity. The work was based on the results of a previous study focused on trunk bending protocol, which suggested that the minimization of the torques exchanged at the restraint point could be a strategy for movement planning in microgravity (J. Biomech. 36(11) (2003) 1691). Torques minimization would lead to the optimization of muscles activity, to the minimization of energy expenditure and, ultimately, to higher movement control capabilities. Here, we focus on leg lateral abduction from anchored stance. The analysis was based on inverse dynamic modelling, leading to the estimation of the total angular momentum at the supporting ankle joint. Results agree with those obtained for trunk bending movements and point out a consistent minimization of the torques exchanged at the restraint point in weightlessness. Given the kinematic features of the examined motor task, this strategy was interpreted as a way to master the rotational dynamic effects on the frontal plane produced by leg lateral abduction. This postural stabilizing effects was the result of a multi-segmental compensation strategy, consisting of the counter rotation of the supporting limb and trunk accompanying the leg raising. The observed consistency of movement-posture co-ordination patterns among lateral leg raising and trunk bending is put forward as a novel interpretative issue of the adaptation mechanisms of the motor system to sustained microgravity, especially if one considers the completely different kinematics of the centre of mass, which was observed in weightlessness for these two motor tasks.     

Head and shoulder posture affect scapular mechanics and muscle activity in overhead tasks

Forward head and rounded shoulder posture (FHRSP) is theorized to contribute to alterations in scapular kinematics and muscle activity leading to the development of shoulder pain. However, reported differences in scapular kinematics and muscle activity in those with forward head and rounded shoulder posture are confounded by the presence of shoulder pain. Therefore, the purpose of this study was to compare scapular kinematics and muscle activity in individuals free from shoulder pain, with and without FHRSP. Eighty volunteers were classified as having FHRSP or ideal posture. Scapular kinematics were collected concurrently with muscle activity from the upper and lower trapezius as well as the serratus anterior muscles during a loaded flexion and overhead reaching task using an electromagnetic tracking system and surface electromyography. Separate mixed model analyses of variance were used to compare three-dimensional scapular kinematics and muscle activity during the ascending phases of both tasks. Individuals with FHRSP displayed significantly greater scapular internal rotation with less serratus anterior activity, during both tasks as well as greater scapular upward rotation, anterior tilting during the flexion task when compared with the ideal posture group. These results provide support for the clinical hypothesis that FHRSP impacts shoulder mechanics independent of shoulder pain.     

Modeling of a simple motor task in man: motor output dependence on sensory input

The relationship between the movement's parameters and the motor output during the execution of certain intentional motor tasks subsequent to a ballistically initiated movement is determined. The two tasks considered are to arrest the movement and to accelerate it as fast as possible. These experiments are the same as described in the preceding paper (Viviani and Terzuolo, 1973). It is shown that the motor output is dependent on sensory input in normal subjects and that this dependence is absent in cerebellar patients. The phase relations between motor output and angular displacement in normal subjects indicate the likelihood of fusimotor dynamic activity to the muscle spindles when the task is to arrest the movement. Instead, when normal subjects are instructed to accelerate the movement, an appropriately timed fusimotor static activity, i.e. alpha-gamma linkage, is indicated. The appropriately timed switching of fusimotor static and dynamic activation is attributed to the presence of cerebellar activities.     

A point of application study to determine the accuracy,precision and reliability of a low-cost balance plate for center of pressure measurement

Changes in postural sway measured via force plate center of pressure have been associated with many aspects of human motor ability. A previous study validated the accuracy and precision of a relatively new, low-cost and portable force plate called the Balance Tracking System (BTrackS). This work compared a laboratory-grade force plate versus BTrackS during human-like dynamic sway conditions generated by an inverted pendulum device. The present study sought to extend previous validation attempts for BTrackS using a more traditional point of application (POA) approach. Computer numerical control (CNC) guided application of ∼155 N of force was applied five times to each of 21 points on five different BTrackS Balance Plate (BBP) devices with a hex-nose plunger. Results showed excellent agreement (ICC > 0.999) between the POAs and measured COP by the BBP devices, as well as high accuracy (<1% average percent error) and precision (<0.1 cm average standard deviation of residuals). The ICC between BBP devices was exceptionally high (ICC > 0.999) providing evidence of almost perfect inter-device reliability. Taken together, these results provide an important, static corollary to the previously obtained dynamic COP results from inverted pendulum testing of the BBP.