Differentiation of human motion data using combined spline and least squares concepts

Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients

BACKGROUND

Stair climbing up and down is an essential part of everyday's mobility. To enable wheelchair-dependent patients the repetitive practice of this task, a novel gait robot, G-EO-Systems (EO, Lat: I walk), based on the end-effector principle, has been designed. The trajectories of the foot plates are freely programmable enabling not only the practice of simulated floor walking but also stair climbing up and down. The article intended to compare lower limb muscle activation patterns of hemiparetic subjects during real floor walking and stairs climbing up, and during the corresponding simulated conditions on the machine, and secondly to demonstrate gait improvement on single case after training on the machine.

METHODS

The muscle activation pattern of seven lower limb muscles of six hemiparetic patients during free and simulated walking on the floor and stair climbing was measured via dynamic electromyography. A non-ambulatory, sub-acute stroke patient additionally trained on the G-EO-Systems every workday for five weeks.

RESULTS

The muscle activation patterns were comparable during the real and simulated conditions, both on the floor and during stair climbing up. Minor differences, concerning the real and simulated floor walking conditions, were a delayed (prolonged) onset (duration) of the thigh muscle activation on the machine across all subjects. Concerning stair climbing conditions, the shank muscle activation was more phasic and timely correct in selected patients on the device. The severely affected subject regained walking and stair climbing ability.

CONCLUSIONS

The G-EO-Systems is an interesting new option in gait rehabilitation after stroke. The lower limb muscle activation patterns were comparable, a training thus feasible, and the positive case report warrants further clinical studies.

Kinematics of the human knee using an open chain cadaver model

There continues to be controversy about the kinematics of the human knee. This study used seven knees from cadavers moved by pulling on the quadriceps tendon in an open chain fashion using video motion analysis to determine the instantaneous helical axis of movement. Computed tomography scans of the specimens allowed the axes to be related to condyles. The parameter beta was defined by the relationship of the helical axis to the center of the condyle (pure spinning motion) and the contact point of the condyle on the tibia (pure rolling motion). Axes above the center of the condyle represent countertranslation, those between the center and the contact point combined spinning and rolling, and those below represent concordant translation. If the motion of the knee is guided by the crossed four-bar link then this model, that allows the knee to 'seek its own path' throughout the range of motion, should show the rollback that commonly is thought to be an important feature of knee motion. The results of this study show that the medial side of the knee stays stable in spinning kinematics whereas the lateral side has a rolling motion in full flexion progressing to a spinning motion in midflexion and counter-translation near full extension. The kinematics that would be expected from rollback were not observed.

Effects of functional ability and training on chair-rise biomechanics in older adults

BACKGROUND

Difficulty in rising from a chair is common in older adults and may be assessed by examining the biomechanics of the rise. The purposes of this study were (i) to analyze the biomechanics of rise performance during chair-rise tasks with varying task demand in older adults with varying rise ability and (ii) to determine whether a strength-training program might improve chair-rise success and alter chair-rise biomechanics, particularly under situations of increased task demand.

METHODS

A training group (n = 16; mean age, 82 years) completed a 12-week strength-training regimen while a control group (n = 14; mean age, 84 years) participated in a seated flexibility program. Outcomes included the ability to complete seven chair-rise tasks, and, if the chair-rise tasks were successful, the biomechanics of these rises. Chair-rise task demand was increased by lowering the seat height, restricting the use of hands, increasing rise speed, and limiting foot support.

RESULTS

At baseline, increased chair-rise task demand generally required increased task completion time, increased anterior center of pressure (COP) placement, increased momentum, increased hip flexion, and increased hip and knee torque output. Those unable to rise at 100% knee height without the use of their hands (task NH-100), compared with those able to rise during task NH-100, followed this pattern in requiring increased time, more anterior placement of the COP, and increased hip flexion to rise in the least demanding tasks allowing the use of hands. However, the unable subjects generated less momentum and knee torque in these tasks. At 12 weeks, and compared with baseline and controls, the training group demonstrated changes in chair-rise biomechanics but no significant changes in rise success. The training subjects, as compared with the controls, maintained a more posterior COP, increased their vertical and horizontal momentum, maintained their knees in greater extension, and maintained their knee-torque output.

CONCLUSIONS

These data demonstrate that subtle yet significant changes can be demonstrated in chair-rise performance as a result of a controlled resistance-training program. These biomechanical changes may represent a shift away from impairment in chair-rise ability, and, although the changes are small, they represent how training may reduce rise difficulty.

A well-posed, embedded constraint representation of joint moments from kinesiological measurements

Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires n-3 acceleration components as compared to 3(n-1) components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy.

A comparison of automatic filtering techniques applied to biomechanical walking data

The purpose of this study was to compare and evaluate six automatic filtering techniques commonly used in biomechanics for filtering gait analysis kinematic signals namely: (1) power spectrum (signal-to-noise ratio) assessment; (2) generalised cross validation spline; (3) least-squares cubic splines; (4) regularisation of Fourier series; (5) regression model and (6) residual analysis. A battery of 1440 signals representing the displacements of seven markers attached upon the surface of the right lower limbs and one marker attached upon the surface of the sacrum during walking were used; their original signal and added noise characteristics were known a priori. The signals were filtered with every technique and the root mean square error between the filtered and reference signal was calculated for each derivative domain. Results indicated that among the investigated techniques there is not one that performs best in all the cases studied. Generally, the techniques of power spectrum estimation, least-squares cubic splines and generalised cross validation produced the most acceptable results.