Nonlinear state-space modeling of human motion using 2-D marker observations

A novel method for the estimation of human kinematics, based on state-space modeling, is proposed. The state consists of the positions, orientations, velocities, and accelerations of an articulated model. Estimation is performed using the unscented Kalman filter (UKF) algorithm with a fixed-interval smoother. Impulsive acceleration at floor contact of the foot is estimated by implementing a contact constraint in the UKF evolution model. The constraint inserts an acceleration impulse into the model state. The estimation method was applied to marker-based motion analysis in a motion laboratory. Validation measurements were performed with a rigid test device and with human gait. A triaxial accelerometer was used to evaluate acceleration estimates. Comparison between the proposed method and the extended Kalman smoother showed a clear difference in the quality of estimates during impulsive accelerations. The proposed approach enables estimation of human kinematics during both continuous and transient accelerations. The approach provides a novel way of estimating acceleration at foot initial contact, and thus enables more accurate evaluation of loading from the beginning of the floor contact.

Lower impulsive loadings following intensive weight loss after bariatric surgery in level and stair walking: a preliminary study

BACKGROUND

There are currently very few of studies which have evaluated the role of bariatric surgery in joint loadings and changes in gait. We wanted to examine how impulsive loading would change level and stair walking in severely or morbidly obese subjects after they had undergone bariatric surgery and weight loss.

METHODS

Thirteen female and three male adults aged between 30 and 63 years, cleared for Roux-en-Y gastric bypass, were recruited into this study. All subjects were severely or morbidly obese i.e., body mass index was >35 kg/m(2). The measurement methods consisted of triaxial skin mounted accelerometers and ground reaction force (GRF); conducted at two different predetermined gait speeds.

RESULTS

The average weight loss was 27.4 (SD8.7) kg after 8.8 (SD3.9) months of follow-up period. Most of the absolute GRF parameters decreased in proportion to weight loss. However, medio-lateral GRF parameters decreased more than expected. The general trend in the knee accelerations demonstrated lower impulsive loadings in both axial and horizontal directions after weight loss. We did not observe any significant changes in stair walking.

CONCLUSIONS

Weight loss after bariatric surgery not only induces a simple mass-related adaptation in gait but also achieves mechanical plasticity in gait strategy.

Kinematic and kinetic changes in obese gait in bariatric surgery-induced weight loss

This study examines the effects of a radical bariatric surgery-induced weight loss on the gait of obese subjects. We performed a three-dimensional motion analysis of lower limbs, and collected force platform data in the gait laboratory to calculate knee and hip joint moments. Subjects (n=13) performed walking trials in the laboratory before and 8.8 months (SD 4.2) after the surgical procedure at two gait speeds (1.2m/s and 1.5m/s). The average weight loss was 26.7kg (SD 9.2kg), corresponding to 21.5% (SD 6.8%) of the initial weight. We observed a decrease in step width at both gait speeds, but no changes in relative double support or swing time or stride length. A significant decrease was noted in the absolute values of peak knee abductor, peak knee flexor and peak hip extensor moments. However, the moment values normalized by the body weight and height remained unchanged in most cases. Thus, we conclude that weight loss reduces hip and knee joint moments in proportion to the amount of weight lost.