Legendre polynomial coefficients in the analysis of the force plate measurements from an osteoarthritic gait

The assessment of force plate measurements obtained from subjects with a pathological gail is normally carried out by a visual inspection of the force-time curves produced by the plate. It is shown that a valuable addition to that inspection is the derivation from the curves of Legendre polynomial coefficients, the first five coefficients being sufficient to indicate clearly, specific osteoarthritic abnormalities.     

Heel-off perturbation during gait initiation: biomechanical analysis using triaxial accelerometry and a force plate.

This study analyzes the movements of the hips, shoulders and of the body center of gravity before and at heel-off, when step execution begins to initiate gait from an upright posture. The heel-off movement was considered as a dynamic perturbation induced by the stepping movement. The experimental paradigm used for studying this perturbation was the single-step movement, in which the initial posture and voluntary movements are identical to those of gait initiation. Data were collected from accelerometer recordings of the triaxial accelerations at the joints of the upper part of the body, and by calculating the triaxial accelerations of the center of gravity using force plate measurements. The resultant vectors were used to establish and compare the magnitude and direction of the accelerations at different joints, and from them, the roles of the pelvis and the scapular girdles with respect to the objectives of the gait movement.     

Peak dynamic force in human gait

Studies were made of the forces generated at heel stroke in human gait using both force plates having a high resonant frequencies (capable of picking up high frequency components in the contact force) as well as a force transducer inserted into the heel of the shoe of the subjects. The output traces were analyzed for the existence of high frequency impulsive loads during a normal walking cycle. The effect of the complicance of the foot and floor was studied with the force transducers. The results showed that during normal human gait the lower limb is subjected to a high frequency impulsive load at heel strike. The severity of this impulse varied with the individual, the velocity and angle with which the limb aproached the ground and the compliance of the two materials coming in contact at heel strike. The magnitude of this peak force varied from 0.5 to 1.25 times body weight and its frequency components from 10 to 75 Hz.     

An experimental study of the somitomeric organization of the avian segmental plate

The segmental plate mesoderm of chicken and Japanese quail embryos HH stages 9 to 16 was studied with scanning electron microscopy (SEM) imaging. The segmental plates were found to exhibit a metameric pattern consisting of tandemly stacked somitomeres. It was found that the numbers of somitomeres in segmental plates removed from the same embryo were nearly identical. Furthermore, the number of somitomeres in a segmental plate was found to be quite consistent (10.0 ± 1.5) and independent of the length of the segmental plate. These results are very similar to those obtained in previous experimental studies in which “prospective somites” were detected in avian segmental plates. Further experiments showed that for each somite that is formed by a cultured segmental plate-containing explant, the somitomere complement of the segmental plate is reduced by one. It was concluded that the segmental plate mesoderm is already organized into a metameric pattern consisting of somitomeres and that the somitomeres undergo further morphogenesis to become somites. The specification of the somite pattern in birds may occur at the level of Hensen's node and the cephalic primitive streak.     

A force plate based method for the calibration of force/torque sensors

This study describes a novel calibration method for six-degrees-of-freedom force/torque sensors (FTsensors) using a pre-calibrated force plate (FP) as a reference measuring device. In this calibration method, the FTsensor is rigidly connected to a FP and force/torque data are synchronously recorded while a dynamic functional loading procedure is applied by the researcher. Based on these data an accurate calibration matrix for the FTsensor can easily be obtained via least-squares optimization. Using this calibration method, this study further investigated what loading methods are appropriate for the calibration of FTsensors intended for ambulatory measurement of ground reaction forces (GRFs). Seven different loading methods were compared (e.g., walking, pushing while standing on the FTsensor). Calibration matrices were calculated based on the raw data from the seven loading methods individually and all loading methods combined. Performance of these calibration matrices was subsequently compared in an in situ trial. During the in situ trial, five common work tasks (e.g., walking, manual lifting, pushing) were performed by an experimenter, while standing on the FP wearing a "ForceShoe" with two calibrated FTsensors attached to its sole. Root-mean-square differences (RMSDs) between the FTsensor and FP outcomes were calculated over all tasks. Using the calibration matrices based on all loading methods combined resulted in small RMSDs (GRF: <8 N, center of pressure: <2 mm). Using the calibration matrices based on "pushing against manual resistance" resulted in similar RMSDs, proving it to be the best single loading method.     

Use of microarray analysis to study gene expression in the avian epiphyseal growth plate

Longitudinal bone growth depends upon the execution of an intricate series of cellular activities by epiphyseal growth plate chondrocytes. In order to better understand these coordinated events, microarray analysis was used to compare gene expression in chondrocytes isolated from the proliferative and hypertrophic zones of the avian growth plate. RT-PCR was used to confirm the identity of a select number of genes. The expression of 745 genes was found to differ 3-fold or greater at the 0.05 level of probability. Transferrin was the most highly up-regulated (321-fold) gene associated with chondrocyte hypertrophy. Immunohistochemistry localized this peptide adjacent to the penetrating blood vessels in the growth plate of 3-week-old chicks. Fibulin, OC-116, DMP-1 and PHEX were among the expanded number of genes associated with extracellular matrix metabolism. The presence of NELL2, ATOH8 and PLEXIN suggests a neuronal involvement in growth plate physiology. In addition, the expression of a large number of genes associated with angiogenesis and cellular stress was up-regulated. These processes are important to the physiology and survival of chondrocytes in the unique and stressful environment of the epiphyseal growth plate.     

Homologous recombination as an evolutionary force in the avian influenza A virus

Avian influenza A viruses (AIVs), including the H5N1, H9N2,and H7N7 subtypes, have been directly transmitted to humans,raising concerns over the possibility of a new influenza pandemic.To prevent a future avian influenza pandemic, it is very importantto fully understand the molecular basis driving the change inAIV virulence and host tropism. Although virulent variants ofother viruses have been generated by homologous recombination,the occurrence of homologous recombination within AIV segmentsis controversial and far from proven. This study reports threecirculating H9N2 AIVs with similar mosaic PA genes descendedfrom H9N2 and H5N1. Additionally, many homologous recombinantsare also found deposited in GenBank. Recombination events canoccur in PB2, PB1, PA, HA, and NP segments and between lineagesof the same/different serotype. These results collectively demonstratethat intragenic recombination plays a role in driving the evolutionof AIVs, potentially resulting in effects on AIV virulence andhost tropism changes.     

A probabilistic method to estimate gait kinetics in the absence of ground reaction force measurements

Human joint torques during gait are usually computed using inverse dynamics. This method requires a skeletal model, kinematics and measured ground reaction forces and moments (GRFM). Measuring GRFM is however only possible in a controlled environment. This paper introduces a probabilistic method based on probabilistic principal component analysis to estimate the joint torques for healthy gait without measured GRFM. A gait dataset of 23 subjects was obtained containing kinematics, measured GRFM and joint torques from inverse dynamics in order to obtain a probabilistic model. This model was then used to estimate the joint torques of other subjects without measured GRFM. Only kinematics, a skeletal model and timing of gait events are needed. Estimation only takes 0.28 ms per time instant. Using cross-validation, the resulting root mean square estimation errors for the lower-limb joint torques are found to be approximately 0.1 Nm/kg, which is 6–18% of the range of the ground truth joint torques. Estimated joint torque and GRFM errors are up to two times smaller than model-based state-of-the-art methods. Model-free artificial neural networks can achieve lower errors than our method, but are less repeatable, do not contain uncertainty information on the estimates and are difficult to use in situations which are not in the learning set. In contrast, our method performs well in a new situation where the walking speed is higher than in the learning dataset. The method can for example be used to estimate the kinetics during overground walking without force plates, during treadmill walking without (separate) force plates and during ambulatory measurements.     

Cytosolic free calcium concentrations in avian growth plate chondrocytes

Isolated avian growth plate chondrocytes convert the acetoxymethyl ester (AM) form of Fura-2 quickly and efficiently to the Ca2(+)-sensitive pentacarboxylic acid (FA) form. Control experiments indicate that the Kd for intracellular Fura-2/FA is very close to that of extracellular Fura-2/FA at the same ionic strength and pH and that the Fura-2/FA fluorescence from indicator converted by intracellular organelles is quite small. Correcting for the effects of extracellular Fura-2/FA and partial hydrolysis products has improved the accuracy of determination of intracellular [Ca2+] over earlier measurements in chondrocytes. Cytosolic [Ca2+] in isolated growth plate chondrocytes (containing cells from each maturational stage) is found to require approximately 9 hours to recover from the isolation process. After this recovery period, cytosolic [Ca2+] in these cells converges to approximately 70 nM regardless of the [Ca2+] of the recovery medium, suggesting regulation of cytosolic [Ca2+] to a set point. Chondrocytes that are separated into maturationally distinct fractions using countercurrent centrifugal elutriation show an increase in cytosolic [Ca2+] with cellular maturation. The least mature resting cells have a [Ca2+] near 57 nM, while the most mature hypertrophic cells are around 95 nM.     

Dual origin of the floor plate in the avian embryo

Molecular analysis carried out on quail-chick chimeras, in which quail Hensen's node was substituted for its chick counterpart at the five- to six-somite stage (ss), showed that the floor plate of the avian neural tube is composed of distinct areas: (1) a median one (medial floor plate or MFP) derived from Hensen's node and characterised by the same gene expression pattern as the node cells (i.e. expression of HNF3beta and Shh to the exclusion of genes early expressed in the neural ectoderm such as CSox1); and (2) lateral regions that are differentiated from the neuralised ectoderm (CSox1 positive) and form the lateral floor plate (LFP). LFP cells are induced by the MFP to express HNF3beta transiently, Shh continuously and other floor-plate characteristic genes such as NETRIN: In contrast to MFP cells, LFP cells also express neural markers such as Nkx2.2 and Sim1. This pattern of avian floor-plate development presents some similarities to floor-plate formation in zebrafish embryos. We also demonstrate that, although MFP and LFP have different embryonic origins in normal development, one can experimentally obtain a complete floor plate in the neural epithelium by the inductive action of either a notochord or a MFP. The competence of the neuroepithelium to respond to notochord or MFP signals is restricted to a short time window, as only the posterior-most region of the neural plate of embryos younger than 15 ss is able to differentiate a complete floor plate comprising MFP and LFP. Moreover, MFP differentiation requires between 4 and 5 days of exposure to the inducing tissues. Under the same conditions LFP and SHH-producing cells only induce LFP-type cells. These results show that the capacity to induce a complete floor plate is restricted to node-derived tissues and probably involves a still unknown factor that is not SHH, the latter being able to induce only LFP characteristics in neuralised epithelium.     

Aberrant death in dark chondrocytes of the avian growth plate

Growth plate chondrocytes of embryonic chick femurs were examined by electron microscopy, cytophotometry and autoradiography. Apart from the well-described 'light' chondrocyte, a different 'dark' type of chondrocyte was present, comprising 10 - 35% of the cell population. They were found at all stages of chondrocyte differentiation and in all ages of the femurs studied. Well developed rough endoplasmatic reticulum and Golgi complex, many secretory vesicles, energetically active mitochondria and a lot of glycogen, indicating high activity of the cytoplasm, were combined with low RNA synthesis, gentle margination and scattered compaction of the chromatin. DNA cytometry revealed that most of dark cells were diploid, but 15 - 30% were tetraploid, with the absence of an S-phase. Substantial loss of DNA was found in about 10% of dark chondrocytes. The TUNEL reaction demonstrated a limited number of DNA strand breaks. Advanced dark cells possessed the nuclear features of both apoptosis and necrosis. Besides chromomeric-chromonemic compaction, a chromatin arrangement similar to that of prometaphase and metaphase, as well as amitotic nuclear segregation, all of them degenerative, were found. Our interpretation is that the dark chondrocytes undergo an aberrant type of cell death which may be combined with aberrant cell cycle. Cell death of dark chondrocytes is preceded by a pre-mortal burst of secretion.     

A simple method to estimate force plate inertial components in a moving surface

Support surface perturbations are a common paradigm for the study of balance and postural control. Forces and moments acquired from force plates mounted on, or within, the moving surface will contain components resulting from the inertia of the force plate itself. These force plate inertial components must be removed in order to accurately estimate forces resulting from contact with the force plate. This is particularly important when these contact forces are to be used in further calculations, such as an inverse dynamics analysis of joint kinetics. An estimate of the FPIC can be derived using the kinematics of the moving surface and the inertial properties of the force plate. This technique allowed for a reduction of up to 85% of the peak and integrated FPIC acquired from AMTI (OR6-7) force plates during translations of 0.1m, and surface rotations of 10 degrees, using a ramp stimulus of 150 ms duration.     

Muscle force estimation in clinical gait analysis using AnyBody and OpenSim

A variety of musculoskeletal models are applied in different modelling environments for estimating muscle forces during gait. Influence of different modelling assumptions and approaches on model outputs are still not fully understood, while direct comparisons of standard approaches have been rarely undertaken. This study seeks to compare joint kinematics, joint kinetics and estimated muscle forces of two standard approaches offered in two different modelling environments (AnyBody, OpenSim). It is hypothesised that distinctive differences exist for individual muscles, while summing up synergists show general agreement. Experimental data of 10 healthy participants (28 ± 5 years, 1.72 ± 0.08 m, 69 ± 12 kg) was used for a standard static optimisation muscle force estimation routine in AnyBody and OpenSim while using two gait-specific musculoskeletal models. Statistical parameter mapping paired t-test was used to compare joint angle, moment and muscle force waveforms in Matlab. Results showed differences especially in sagittal ankle and hip angles as well as sagittal knee moments. Differences were also found for some of the muscles, especially of the triceps surae group and the biceps femoris short head, which occur as a result of different anthropometric and anatomical definitions (mass and inertia of segments, muscle properties) and scaling procedures (static vs. dynamic). Understanding these differences and their cause is crucial to operate such modelling environments in a clinical setting. Future research should focus on alternatives to classical generic musculoskeletal models (e.g. implementation of functional calibration tasks), while using experimental data reflecting normal and pathological gait to gain a better understanding of variations and divergent behaviour between approaches.     

A holistic approach to study the temporal variability in gait

Movement variability has become an important field of research and has been studied to gain a better understanding of the neuro-muscular control of human movements. In addition to studies investigating "amplitude variability" there are a growing number of studies assessing the "temporal variability" in movements by applying non-linear analysis techniques. One limitation of the studies available to date is that they quantify variability features in specific, pre-selected biomechanical or physiological variables. In many cases it remains unclear if and to what degree these pre-selected variables quantify characteristics of the whole body movement. This technical note proposes to combine two analysis techniques that have already been applied for gait analysis in order to quantify variability features in walking with variables whose significance for the whole movements are known. Gait patterns were recorded using a full-body marker set on the subjects whose movements were captured with a standard motion tracing system. For each time frame the coordinates of all markers were interpreted as a high-dimensional "posture vector". A principal component analysis (PCA) conducted on these posture vectors identified the main one-dimensional movement components of walking. Temporal variability of gait was then quantified by calculating the maximum Lyapunov Exponent (LyE) of these main movement components. The effectiveness of this approach was demonstrated by determining differences in temporal variability between walking in unstable shoes and walking in a normal athletic-type control shoe. Several additional conceptual and practical advantages of this combination of analysis methods were discussed.     

Hydration force in the atomic force microscope: A computational study.

Using a hard sphere model and numerical calculations, the effect of the hydration force between a conical tip and a flat surface in the atomic force microscope (AFM) is examined. The numerical results show that the hydration force remains oscillatory, even down to a tip apex of a single water molecule, but its lateral extent is limited to a size of a few water molecules. In general, the contribution of the hydration force is relatively small, but, given the small imaging force ( approximately 0.1 nN) typically used for biological specimens, a layer of water molecules is likely to remain "bound" to the specimen surface. This water layer, between the tip and specimen, could act as a "lubricant" to reduce lateral force, and thus could be one of the reasons for the remarkably high resolution achieved with contact-mode AFM. To disrupt this layer, and to have a true tip-sample contact, a probe force of several nanonewtons would be required. The numerical results also show that the ultimate apex of the tip will determine the magnitude of the hydration force, but that the averaged hydration pressure is independent of the radius of curvature. This latter conclusion suggests that there should be no penalty for the use of sharper tips if hydration force is the dominant interaction between the tip and the specimen, which might be realizable under certain conditions. Furthermore, the calculated hydration energy near the specimen surface compares well with experimentally determined values with an atomic force microscope, providing further support to the validity of these calculations.     

A study of gait acceleration and synchronisation in healthy adult subjects

Accelerometry-based gait analysis is widely recognised as a promising tool in healthcare and clinical settings since it is unobtrusive, inexpensive and capable of providing insightful information on human gait characteristics. In order to expand the application of this technology in daily environments, it is desirable to develop reliable gait measures and their extraction methods from the acceleration signal that can differentiate between normal and atypical gait. Important examples of such measures are gait cycle and gait-induced acceleration magnitude, which are known to be closely related to each other depending on each individual's physical condition. In this study, we derive a model equation with two parameters which captures the essential relationships between gait cycle and gait acceleration based on experiments and physical modelling. We also introduce as a new gait parameter a set of indexes to evaluate the synchronisation behaviour of gait timing. The function and utility of the proposed parameters are examined in 11 healthy subjects during walking under various selected conditions.     

A preliminary study of modification of gait in real-time using surface electromyography

Modification of abnormal gait was attempted in real-time using a surface electromyography-based protocol to teach recruitment of the anterior tibialis at the correct time in the gait cycle. Two children diagnosed with cerebral palsy were able to learn volitional control of the anterior tibialis as demonstrated by improved clearance of the toe on the swing phase of the gait and newly learned ability to recruit and relax the anterior tibialis. The children were able to walk with the new gait pattern and reproduce the old one at will. Implications for future research in this area are discussed.