Compensating for Soft-Tissue Artifact Using the Orientation of Distal Limb Segments During Electromagnetic Motion Capture of the Upper Limb

2021 ◽  
Author(s):  
Zachary Bons ◽  
Taylor Dickinson ◽  
Ryan Clark ◽  
Kari Beardsley ◽  
Steven Charles
Keyword(s):  
Soft Tissue ◽  
Motion Capture ◽  
Upper Limb ◽  
External Rotation ◽  
Arm Movement ◽  
Elbow Extension ◽  
Wrist Flexion ◽  
Hand Orientation ◽  
Flexion Extension ◽  
Motion Capture Systems

Abstract Most motion capture measurements suffer from soft-tissue artifacts (STA). Especially affected are rotations about the long axis of a limb segment, such as humeral internal-external rotation (HIER) and forearm pronation-supination (FPS). Unfortunately, most existing methods to compensate for STA were designed for optoelectronic motion capture systems. We present and evaluate a STA compensation method that 1) compensates for STA in HIER and/or FPS, 2) is developed specifically for electromagnetic motion capture systems, and 3) does not require additional calibration or data. To compensate for STA, calculation of HIER angles rely on forearm orientation, and calculation of FPS angles rely on hand orientation. To test this approach, we recorded whole-arm movement data from eight subjects and compared their joint angle trajectories calculated according to progressive levels of STA compensation. Compensated HIER and FPS angles were significantly larger than uncompensated angles. Although the effect of STA compensation on other joint angles (besides HIER and FPS) was usually modest, significant effects were seen in certain DOF under some conditions. Overall, the method functioned as intended during most of the range of motion of the upper limb, but it becomes unstable in extreme elbow extension and extreme wrist flexion-extension. Specifically, this method is not recommended for movements within 20° of full elbow extension, full wrist flexion, or full wrist extension. Since this method does not require additional calibration of data, it can be applied retroactively to data collected without the intent to compensate for STA.

EFEITOS DO DEEP RUNNING SOBRE A AMPLITUDE DE MOVIMENTO E A CAPACIDADE FUNCIONAL DOS MEMBROS SUPERIORES DE MULHERES MASTECTOMIZADAS: RELATO DE CASOS

2019 ◽  
pp. 121-131
Keyword(s):  
Range Of Motion ◽  
Upper Limb ◽  
Functional Capacity ◽  
External Rotation ◽  
Treatment Protocol ◽  
Range Of Movement ◽  
Flexion Extension ◽  
Before And After ◽  
In The Beginning ◽  
And Function

Introduction: Breast cancer is the most common type of cancer among women in Brazil and in the worl. The surgical treatment procedure may cause severe morbidity in the upper limb homolateral to surgery, including the reduction of the range of motion, with consequent impairment of function. A physiotherapeutic approach has an important role in the recover range of motion and the functionality of these women, guaranteeing the occupational, domestestic, familiar and conjugated activities, and, in this way, also improving the quality of life. Objectives: To analyse chances in the shoulder's range of motion and the functional capacity of the upper limbs, promoted by the deep running procedure in women with late postoperative mastectomy. Methods: All the patients were submitted to an evaluation in the beginning and end of the treatment, including: goniometry of flexion, extension, abduction, adduction, internal and external rotation of the shoulder joint; and function capacity analysis in activities that involve the upper members by DASH questionnaire. The treatment protocol includes twelve sessions of deep running, realized twice a week, in deep pool, for 20-minute during six weeks. Results: Were submitted to treatment a total of 4 patients. Despite the improvement in the numerical values, statistically significant differences were not found on the range of movements and in the functional capacity of upper members before and after the deep running sessions in post-mastectomy women. Conclusion: Deep running had effects on the numerical values of range of movement and upper limb functionality in women in the late postoperative period of the mastectomy procedure, but without statistically significant differences.

Functional Reorganization in Chronic Hemiparetic Patients after Training: fMRI Studies

2006 ◽  
Vol 321-323 ◽  
pp. 1016-1021
Author(s):  
Ki Sik Tae ◽  
Sung Jae Song ◽  
So Young Lee ◽  
Gi Young Park ◽  
Chul Ho Sohn ◽  
...  
Keyword(s):  
Training Program ◽  
Upper Limb ◽  
Hand Movement ◽  
Active Movement ◽  
Wrist Flexion ◽  
Motor Tasks ◽  
Neural Basis ◽  
Motor Network ◽  
Flexion Extension ◽  
Before And After

The aim of this study was to evaluate effects of short-term repetitive-bilateral exercise on the activation of motor network using functional magnetic resonance imaging (fMRI). Eight control subjects and four chronic hemiparetic patients were investigated for the present study. The training program with a symmetrical upper-limb motion trainer was performed at 1 hr/day, 5 days/week during 6 weeks. Fugl-Meyer assessments (FMA) were performed every two weeks during the training. We compared cerebral and cerebellar cortical activations in two different tasks before and after the training program: (1) the only unaffected hand movement (Task 1), and (2) passive movements of the affected hand by the active movement of the unaffected hand (Task 2). fMRI was performed at 3T with wrist flexion-extension movement at 1 Hz during the motor tasks. All patients showed significant improvements of FMA scores in their paretic limbs after training. fMRI studies in Task 1 showed that cortical activations decreased in ipsilateral SMC but increased in contralateral sensorimotor cortex (SMC) and ipsilateral cerebellum (CRB). Task 2 showed cortical reorganizations in bilateral SMC, pre-motor area (PMA), supplementary area (SMA) and CRB. This study demonstrated that plastic changes of motor network occurred as a neural basis of the improvement subsequent to repetitive-bilateral exercises using the symmetrical upper-limb motion trainer.

Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements

Robotica ◽  
2014 ◽  
Vol 33 (1) ◽  
pp. 19-39 ◽  
Author(s):  
M. H. Rahman ◽  
M. J. Rahman ◽  
O. L. Cristobal ◽  
M. Saad ◽  
J. P. Kenné ◽  
...  
Keyword(s):  
Upper Limb ◽  
Wrist Joint ◽  
External Rotation ◽  
Lateral Side ◽  
Limb Movements ◽  
Rehabilitation Therapy ◽  
Robotic Exoskeleton ◽  
Flexion Extension ◽  
Upper Limb Movements ◽  
Physically Disabled People

SUMMARYTo assist physically disabled people with impaired upper limb function, we have developed a new 7-DOF exoskeleton-type robot named Motion Assistive Robotic-Exoskeleton for Superior Extremity (ETS-MARSE) to ease daily upper limb movements and to provide effective rehabilitation therapy to the superior extremity. The ETS-MARSE comprises a shoulder motion support part, an elbow and forearm motion support part, and a wrist motion support part. It is designed to be worn on the lateral side of the upper limb in order to provide naturalistic movements of the shoulder (vertical and horizontal flexion/extension and internal/external rotation), elbow (flexion/extension), forearm (pronation/supination), and wrist joint (radial/ulnar deviation and flexion/extension). This paper focuses on the modeling, design, development, and control of the ETS-MARSE. Experiments were carried out with healthy male human subjects in whom trajectory tracking in the form of passive rehabilitation exercises (i.e., pre-programmed trajectories recommended by a therapist/clinician) were carried out. Experimental results show that the ETS-MARSE can efficiently perform passive rehabilitation therapy.

Effects of Upper Limb Muscle Vibration on Human Voluntary Wrist Flexion-Extension Movements

1994 ◽  
Vol 78 (1) ◽  
pp. 43-47 ◽  
Author(s):  
T. Kasai ◽  
M. Kawanishi ◽  
S. Yahagi
Keyword(s):  
Upper Limb ◽  
Limb Muscle ◽  
Wrist Flexion ◽  
Flexor Muscle ◽  
Simultaneous Application ◽  
Eyes Closed ◽  
Wrist Flexor ◽  
Flexion Extension ◽  
Flexor Muscles ◽  
Elbow Extensor

The effect of upper limb muscle tendon vibration during alternating step flexion-extension movements about the wrist was studied in 6 normal humans. A vibrator was mounted over either the wrist flexor muscle or the elbow flexor and extensor muscles. Vibration was applied either to a single muscle or simultaneously to both muscles during wrist flexion-extension movements. After a period of practice, subjects learned the required movements and were able to make them with their eyes closed. Simultaneous application of subthreshold vibration to the wrist flexor and the elbow extensor or flexor muscles during extension movements produced an undershooting of the required end-movement position. The observed results indicated the pattern of transjoint projections from elbow extensor and flexor muscles to motoneurons supplying wrist extensor and flexor muscles. It is also suggested that those transjoint projections play an important role in coordinated movement of wrist and elbow joints.

scholarly journals Comparison of the Performance of the Leap Motion ControllerTM with a Standard Marker-Based Motion Capture System

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1750
Author(s):  
Amartya Ganguly ◽  
Gabriel Rashidi ◽  
Katja Mombaur
Keyword(s):  
Motion Capture ◽  
Gold Standard ◽  
Low Cost ◽  
Ring Finger ◽  
Healthcare Services ◽  
Leap Motion ◽  
Motion Capture System ◽  
Flexion Extension ◽  
Standard Marker ◽  
Motion Capture Systems

Over the last few years, the Leap Motion Controller™ (LMC) has been increasingly used in clinical environments to track hand, wrist and forearm positions as an alternative to the gold-standard motion capture systems. Since the LMC is marker-less, portable, easy-to-use and low-cost, it is rapidly being adopted in healthcare services. This paper demonstrates the comparison of finger kinematic data between the LMC and a gold-standard marker-based motion capture system, Qualisys Track Manager (QTM). Both systems were time synchronised, and the participants performed abduction/adduction of the thumb and flexion/extension movements of all fingers. The LMC and QTM were compared in both static measuring finger segment lengths and dynamic flexion movements of all fingers. A Bland–Altman plot was used to demonstrate the performance of the LMC versus QTM with Pearson’s correlation (r) to demonstrate trends in the data. Only the proximal interphalangeal joint (PIP) joint of the middle and ring finger during flexion/extension demonstrated acceptable agreement (r = 0.9062; r = 0.8978), but with a high mean bias. In conclusion, the study shows that currently, the LMC is not suitable to replace gold-standard motion capture systems in clinical settings. Further studies should be conducted to validate the performance of the LMC as it is updated and upgraded.

scholarly journals Development of a System Architecture for Evaluation and Training of Proprioceptive Deficits of the Upper Limb

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Roberto Colombo ◽  
Alessandra Mazzone ◽  
Carmen Delconte ◽  
Fabrizio Pisano
Keyword(s):  
Upper Limb ◽  
System Architecture ◽  
Horizontal Plane ◽  
Position Estimation ◽  
Wrist Flexion ◽  
Estimation Errors ◽  
Reliable Assessment ◽  
Flexion Extension ◽  
Robotic Devices ◽  
And Training

Proprioception plays a fundamental role in maintaining posture and executing movement, and the quantitative evaluation of proprioceptive deficits in poststroke patients is important. But currently it is not widely performed due to the complexity of the evaluation tools required for a reliable assessment. The aims of this pilot study were to (a) develop a system architecture for upper limb evaluation and training of proximal and distal sense of position in the horizontal plane and (b) test the system in healthy and pathological subjects. Two robotic devices for evaluation and training of, respectively, wrist flexion/extension and shoulder-elbow manipulation were employed. The system we developed was applied in a group of 12 healthy subjects and 10 patients after stroke. It was able to quantitatively evaluate upper limb sense of position in the horizontal plane thanks to a set of quantitative parameters assessing position estimation errors, variability, and gain. In addition, it was able to distinguish healthy from pathological conditions. The system could thus be a reliable method to detect changes in the sense of position of patients with sensory deficits after stroke and could enable the implementation of novel training approaches for the recovery of normal proprioception.

scholarly journals Placement Recommendations for Single Kinect-Based Motion Capture System in Unilateral Dynamic Motion Analysis

Healthcare ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 1076
Author(s):  
Laisi Cai ◽  
Dongwei Liu ◽  
Ye Ma
Keyword(s):  
Motion Analysis ◽  
Motion Capture ◽  
Upper Limb ◽  
Kinematic Model ◽  
Sensor Placement ◽  
Motion Capture System ◽  
Kinect Sensor ◽  
3D Motion ◽  
Flexion Extension ◽  
3D Motion Capture

Low-cost, portable, and easy-to-use Kinect-based systems achieved great popularity in out-of-the-lab motion analysis. The placement of a Kinect sensor significantly influences the accuracy in measuring kinematic parameters for dynamics tasks. We conducted an experiment to investigate the impact of sensor placement on the accuracy of upper limb kinematics during a typical upper limb functional task, the drinking task. Using a 3D motion capture system as the golden standard, we tested twenty-one Kinect positions with three different distances and seven orientations. Upper limb joint angles, including shoulder flexion/extension, shoulder adduction/abduction, shoulder internal/external rotation, and elbow flexion/extension angles, are calculated via our developed Kinect kinematic model and the UWA kinematic model for both the Kinect-based system and the 3D motion capture system. We extracted the angles at the point of the target achieved (PTA). The mean-absolute-error (MEA) with the standard represents the Kinect-based system’s performance. We conducted a two-way repeated measure ANOVA to explore the impacts of distance and orientation on the MEAs for all upper limb angles. There is a significant main effect for orientation. The main effects for distance and the interaction effects do not reach statistical significance. The post hoc test using LSD test for orientation shows that the effect of orientation is joint-dependent and plane-dependent. For a complex task (e.g., drinking), which involves body occlusions, placing a Kinect sensor right in front of a subject is not a good choice. We suggest that place a Kinect sensor at the contralateral side of a subject with the orientation around 30∘ to 45∘ for upper limb functional tasks. For all kinds of dynamic tasks, we put forward the following recommendations for the placement of a Kinect sensor. First, set an optimal sensor position for capture, making sure that all investigated joints are visible during the whole task. Second, sensor placement should avoid body occlusion at the maximum extension. Third, if an optimal location cannot be achieved in an out-of-the-lab environment, researchers could put the Kinect sensor at an optimal orientation by trading off the factor of distance. Last, for those need to assess functions of both limbs, the users can relocate the sensor and re-evaluate the functions of the other side once they finish evaluating functions of one side of a subject.

scholarly journals Characterization of stroke-related upper limb motor impairments across various upper limb activities by use of kinematic core set measures

2022 ◽  
Vol 19 (1) ◽  
Author(s):  
Anne Schwarz ◽  
Miguel M. C. Bhagubai ◽  
Saskia H. G. Nies ◽  
Jeremia P. O. Held ◽  
Peter H. Veltink ◽  
...  
Keyword(s):  
Upper Limb ◽  
Daily Living ◽  
Healthy Subjects ◽  
Peak Velocity ◽  
Movement Time ◽  
Elbow Flexion ◽  
Wrist Flexion ◽  
Shoulder Flexion ◽  
Flexion Extension

Abstract Background Upper limb kinematic assessments provide quantifiable information on qualitative movement behavior and limitations after stroke. A comprehensive characterization of spatiotemporal kinematics of stroke subjects during upper limb daily living activities is lacking. Herein, kinematic expressions were investigated with respect to different movement types and impairment levels for the entire task as well as for motion subphases. Method Chronic stroke subjects with upper limb movement impairments and healthy subjects performed a set of daily living activities including gesture and grasp movements. Kinematic measures of trunk displacement, shoulder flexion/extension, shoulder abduction/adduction, elbow flexion/extension, forearm pronation/supination, wrist flexion/extension, movement time, hand peak velocity, number of velocity peaks (NVP), and spectral arc length (SPARC) were extracted for the whole movement as well as the subphases of reaching distally and proximally. The effects of the factors gesture versus grasp movements, and the impairment level on the kinematics of the whole task were tested. Similarities considering the metrics expressions and relations were investigated for the subphases of reaching proximally and distally between tasks and subgroups. Results Data of 26 stroke and 5 healthy subjects were included. Gesture and grasp movements were differently expressed across subjects. Gestures were performed with larger shoulder motions besides higher peak velocity. Grasp movements were expressed by larger trunk, forearm, and wrist motions. Trunk displacement, movement time, and NVP increased and shoulder flexion/extension decreased significantly with increased impairment level. Across tasks, phases of reaching distally were comparable in terms of trunk displacement, shoulder motions and peak velocity, while reaching proximally showed comparable expressions in trunk motions. Consistent metric relations during reaching distally were found between shoulder flexion/extension, elbow flexion/extension, peak velocity, and between movement time, NVP, and SPARC. Reaching proximally revealed reproducible correlations between forearm pronation/supination and wrist flexion/extension, movement time and NVP. Conclusion Spatiotemporal differences between gestures versus grasp movements and between different impairment levels were confirmed. The consistencies of metric expressions during movement subphases across tasks can be useful for linking kinematic assessment standards and daily living measures in future research and performing task and study comparisons. Trial registration: ClinicalTrials.gov Identifier NCT03135093. Registered 26 April 2017, https://clinicaltrials.gov/ct2/show/NCT03135093.

scholarly journals Retrospective Robot-Measured Upper Limb Kinematic Data From Stroke Patients Are Novel Biomarkers

2021 ◽  
Vol 12 ◽  
Author(s):  
Michela Goffredo ◽  
Sanaz Pournajaf ◽  
Stefania Proietti ◽  
Annalisa Gison ◽  
Federico Posteraro ◽  
...  
Keyword(s):  
Upper Limb ◽  
External Rotation ◽  
Predictive Biomarkers ◽  
Motor Recovery ◽  
Post Treatment ◽  
Kinematic Parameters ◽  
Kinematic Data ◽  
Subacute Stroke ◽  
Flexion Extension ◽  
Pre Treatment

Background: The efficacy of upper-limb Robot-assisted Therapy (ulRT) in stroke subjects is well-established. The robot-measured kinematic data can assess the biomechanical changes induced by ulRT and the progress of patient over time. However, literature on the analysis of pre-treatment kinematic parameters as predictive biomarkers of upper limb recovery is limited.Objective: The aim of this study was to calculate pre-treatment kinematic parameters from point-to-point reaching movements in different directions and to identify biomarkers of upper-limb motor recovery in subacute stroke subjects after ulRT.Methods: An observational retrospective study was conducted on 66 subacute stroke subjects who underwent ulRT with an end-effector robot. Kinematic parameters were calculated from the robot-measured trajectories during movements in different directions. A Generalized Linear Model (GLM) was applied considering the post-treatment Upper Limb Motricity Index and the kinematic parameters (from demanding directions of movement) as dependent variables, and the pre-treatment kinematic parameters as independent variables.Results: A subset of kinematic parameters significantly predicted the motor impairment after ulRT: the accuracy in adduction and internal rotation movements of the shoulder was the major predictor of post-treatment Upper Limb Motricity Index. The post-treatment kinematic parameters of the most demanding directions of movement significantly depended on the ability to execute elbow flexion-extension and abduction and external rotation movements of the shoulder at baseline.Conclusions: The multidirectional analysis of robot-measured kinematic data predicts motor recovery in subacute stroke survivors and paves the way in identifying subjects who may benefit more from ulRT.

DYNAMIC MODELING AND EVALUATION OF A ROBOTIC EXOSKELETON FOR UPPER-LIMB REHABILITATION

2011 ◽  
Vol 08 (01) ◽  
pp. 83-102 ◽  
Author(s):  
MOHAMMAD HABIBUR RAHMAN ◽  
THIERRY KITTEL-OUIMET ◽  
MAAROUF SAAD ◽  
JEAN-PIERRE KENNÉ ◽  
PHILIPPE S. ARCHAMBAULT
Keyword(s):  
Dynamic Modeling ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Vital Role ◽  
Torque Control ◽  
Control Technique ◽  
Wrist Flexion ◽  
Upper Limb Rehabilitation ◽  
Flexion Extension ◽  
Physically Disabled People

Proper functioning of the shoulder, elbow, and wrist movements play a vital role in the performance of essential daily activities. To assist physically disabled people with impaired upper-limb function, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. The proposed ExoRob will be comprised of seven degrees of freedom (DOFs) to enable natural movements of the human upper-limb. This paper focuses on the kinematic and dynamic modeling of the proposed ExoRob that corresponds to human upper-limbs. For this purpose, a nonlinear computed torque control technique was employed. In simulations, trajectory tracking corresponding to typical rehabilitation exercises were carried out to evaluate the performances of the developed model and controller. For the experimental part, only 3DOFs (elbow, wrist flexion/extension, wrist abduction/adduction) were considered. Simulated and experimental results show that the controller was able to maneuver the proposed ExoRob efficiently in order to track the desired trajectories, which in this case consisted in passive arm movements. Such movements are widely used in therapy and were performed efficiently with the developed ExoRob and the controller.

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