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°.     

Neck muscle paths and moment arms are significantly affected by wrapping surface parameters

In this paper, we studied the effects of wrapping surfaces on muscle paths and moment arms of the neck muscle, semispinalis capitis. Sensitivities to wrapping surface size and the kinematic linkage to vertebral segments were evaluated. Kinematic linkage, but not radius, significantly affected the accuracy of model muscle paths compared to centroid paths from images. Both radius and linkage affected the moment arm significantly. Wrapping surfaces that provided the best match to centroid paths over a range of postures had consistent moment arms. For some wrapping surfaces with poor matches to the centroid path, a kinematic method (tendon excursion) predicted flexion moment arms in certain postures, whereas geometric method (distance to instant centre) predicted extension. This occurred because the muscle lengthened as it wrapped around the surface. This study highlights the sensitivity of moment arms to wrapping surface parameters and the importance of including multiple postures when evaluating muscle paths and moment arm.     

Functional limits of agreement applied as a novel method comparison tool for accuracy and precision of inertial measurement unit derived displacement of the distal limb in horses

Over ground motion analysis in horses is limited by a small number of strides and restraints of the indoor gait laboratory. Inertial measurement units (IMUs) are transforming the knowledge of human motion and objective clinical assessment through the opportunity to obtain clinically relevant data under various conditions. When using IMUs on the limbs of horses to determine local position estimates, conditions with high dynamic range of both accelerations and rotational velocities prove particularly challenging. Here we apply traditional method agreement and suggest a novel method of functional data analysis to compare motion capture with IMUs placed over the fetlock joint in seven horses. We demonstrate acceptable accuracy and precision at less than or equal to 5% of the range of motion for detection of distal limb mounted cranio-caudal and vertical position. We do not recommend the use of the latero-medial position estimate of the distal metacarpus/metatarsus during walk where the average error is 10% and the maximum error 111% of the range. We also show that functional data analysis and functional limits of agreement are sensitive methods for comparison of cyclical data and could be applied to differentiate changes in gait for individuals across time and conditions.     

Polarization in the structures of uracil and thiouracils: Implication for binding with orotidine 5'-monophosphate decarboxylase

The structures of the uracil and thiouracils were examined using NMR spectroscopy and crystal structure data when available. The relationships between the extent of polarization and the C5-C6 bond length as well as the H5-H6 coupling constants were probed. It was found that the bond length and coupling constants correlate well with the proton affinities at the carbonyl or thiocarbonyl groups at C4 but not C2. The possible implication in the tighter binding of thiouracil based nucleotides to orotidine-5'-monophosphate decarboxylase was discussed.     

The helical hairpin structure of the influenza fusion peptide can be seen on a hydrophobic moment map

An assignment of the helical hairpin of the influenza fusion peptide has been made based on the hydrophobic moments, represented in a form of two-dimensional map. Such assignment holds for all serotypes, even for the cases of mutations altering the amino acid character. Similar results are obtained for the experimentally developed hydrophobicity scales, whose values reflect the transfer energies between aqueous and membrane environments. A distinct, however still structure-related hydrophobic map corresponds to a helical and contiguous HIV gp41 fp. The method may be used as a simple tool for sequence-based prediction of structures adopted by viral fusion peptides.     

Application of an image-based weighted measure of skeletal bending stiffness to great ape mandibles

Traditional measures of structural stiffness in the primate skeleton do not consider the heterogeneous material stiffness distribution of bone. This assumption of homogeneity introduces an unknown degree of error in estimating stiffness in skeletal elements. Measures of weighted stiffness can be developed by including heterogeneous grayscale variations evident in computed tomographic (CT) images. Since gray scale correlates with material stiffness, the distribution of bone quality and quantity can be simultaneously considered. We developed weighted measures of bending resistance and applied these to CT images at three locations along the mandibular corpus in the hominoids Gorilla, Pongo, and Pan. We calculated the traditional (unweighted) moment of inertia for comparison to our weighted measure, which weighs each pixel by its gray-scale value. This weighing results in assignment of reduced moment of inertia values to sections of reduced density. Our weighted and unweighted moments differ by up to 22%. These differences are not consistent among sections, however, such that they cannot be calculated by simple correction of unweighted moments. The effect of this result is that the rank ordering of individual sections within species changes if weighted moments are considered. These results suggest that the use of weighted moments may spur different interpretations of comparative data sets that rely on stiffness measures as estimates of biomechanical competence.     

Helical water wires

A helitetrahedral model has been proposed to help explain reports of low-frequency oscillations in pure water following electromagnetic excitation at the hydronium ion cyclotron resonance frequency. The Lorentz force and the intrinsic structure constrain the motion of the H₃O⁺ ion so that it enjoys a unique form of proton-hopping, one whose path is helical. This model may also explain the numerous previously observed cyclotron resonance (ICR) biological couplings for cations other than hydronium by merely substituting hydrogen-bonded versions of these for hydronium in the tetrahedral structure. Thus the effectiveness of resonance stimulation in biological systems is explained in terms of the enhanced conductivity and reduced scattering associated with proton-hopping. It is further shown that the addition of charge-balancing hydroxyl ions act to enable oscillatory electric dipole moments that propagate along the helical axis, giving rise to weak power (≈ femtoWatts) radiation patterns. It is conceivable that the radiation associated with this process may play a role in the interactions at the interface between water and living matter.     

Biomechanical maturation of joint dynamics during early childhood: Updated conclusions

Dynamic parameters have been commonly explored to characterize the biomechanical maturation of children's gaits, i.e., age-revealing joint moment and power patterns similar to adult patterns. However, the literature revealed a large disparity of conclusions about maturation depending on the study, which was most likely due to an inappropriate scaling strategy and uncontrolled walking speed. With the first years of independent walking, a large growth in height and a large variability of dimensionless walking speed are observed. Moreover, the dynamic parameters were not well studied during early childhood.     

Real-time biofeedback can increase and decrease vertical ground reaction force,knee flexion excursion,and knee extension moment during walking in individuals with anterior cruciate ligament reconstruction

Individuals with anterior cruciate ligament reconstruction (ACLR) often exhibit a “stiffened knee strategy” or an excessively extended knee during gait, characterized by lesser knee flexion excursion and peak internal knee extension moment (KEM). The purpose of this study was to determine the effect of real-time biofeedback (RTBF) cuing an acute change in peak vertical ground reaction force (vGRF) during the first 50% of the stance phase of walking gait on: (1) root mean square error (RMSE) between actual vGRF and RTBF target vGRF; (2) perceived difficulty; and (3) knee biomechanics. Acquisition and short-term recall of these outcomes were evaluated. Thirty individuals with unilateral ACLR completed 4 separate walking sessions on a force-measuring treadmill that consisted of a control (no RTBF) and 3 experimental loading conditions using RTBF including: (1) 5% vGRF increase (high-loading), (2) 5% vGRF decrease (low-loading) and (3) symmetric vGRF between limbs. Bilateral biomechanical outcomes were analyzed during the first 50% of the stance phase, and included KEM, knee flexion excursion, peak vGRF, and instantaneous vGRF loading rate (vGRF-LR) for each loading condition. Peak vGRF significantly increased and decreased during high-loading and low-loading, respectively compared to control loading. Instantaneous vGRF-LR, peak KEM and knee flexion excursion significantly increased during the high-loading condition compared to low-loading. Perceived difficultly and RMSE were lower during the symmetrical loading condition compared to the low-loading condition. Cuing an increase in peak vGRF may be beneficial for increasing KEM, knee flexion excursion, peak vGRF, and vGRF-LR in individuals with ACLR. Clinical Trials Number: NCT03035994.     

Predicting long bone loading from cross-sectional geometry

Long bone loading histories are commonly evaluated using a beam model by calculating cross-sectional second moments of areas (SMAs). Without in vivo strain data, SMA analyses commonly make two explicit or implicit assumptions. First, while it has long been known that axial compression superimposed on bending shifts neutral axes away from cross-sectional area centroids, most analyses assume that cross-sectional properties calculated through the area centroid approximate cross-sectional strength. Second, the orientation of maximum bending rigidity is often assumed to reflect the orientation of peak or habitual bending forces the bone experiences. These assumptions are tested in sheep in which rosette strain gauges mounted at three locations around the tibia and metatarsal midshafts measured in vivo strains during treadmill running at 1.5 m/sec. Calculated normal strain distributions confirm that the neutral axis of bending does not run through the midshaft centroid. In these animals, orientations of the principal centroidal axes around which maximum SMAs (Imax) are calculated are not in the same planes in which the bones experienced bending. Cross-sectional properties calculated using centroidal axes have substantial differences in magnitude (up to 55%) but high correlations in pattern compared to cross-sectional properties calculated around experimentally determined neutral axes. Thus interindividual comparisons of cross-sectional properties calculated from centroidal axes may be useful in terms of pattern, but are subject to high errors in terms of absolute values. In addition, cross-sectional properties do not necessarily provide reliable data on the orientations of loads to which bones are subjected.