INTERSEGMENTAL COORDINATION IN LOWER EXTREMITIES AND MULTI-SEGMENTAL SPINE DURING DIFFERENT ACTIVITIES OF DAILY LIVING

2017 ◽  
Vol 17 (07) ◽  
pp. 1740015
Author(s):  
DAIQI GUO ◽  
SHENGZHENG KUAI ◽  
WENYU ZHOU ◽  
XINYU GUAN ◽  
ZHENHUA LIAO ◽  
...  
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Principal Component ◽  
Human Movement ◽  
Stair Climbing ◽  
Motion Pattern ◽  
Level Walking ◽  
Lower Lumbar

Background: Human movement consists of numerous degrees of freedom (DOF). How the nervous system (NS) computes the appropriate command to coordinate these DOFs to finish specific tasks is still hotly debated. One common way to simplify the redundant DOFs is to coordinate multiple DOFs by combining them into units or synergies. The present study aimed to investigate the kinematic complexity of five activities of daily living (ADLs) and to detect the amount of kinematic synergy during every ADL and the relationship of the motion pattern between these ADLs. Method: Twenty-six able-bodied male individuals performed level walking, stair climbing, trunk bending, ipsilateral pick-up and contralateral pick-up in sequence. The segmental excursion of the thorax, upper lumbar, lower lumbar, pelvis, thigh and shank was calculated. Principal component analysis (PCA) was applied to determine the motion pattern of every ADL. Result: In the sagittal plane, trunk bending, ipsilateral pick-up and contralateral pick-up could be simplified by using one principal component (PC) with more than 95% variance accounted for (VAF). In addition, the motion pattern of every PC was similar among the three ADLs. Moreover, the angles between the vectors representing the first PC of the three ADLs were all less than 10[Formula: see text]. Level walking and stair climbing needed at least two PCs to reach 95% VAF. In addition, the motion pattern was different between the two ADLs. Moreover, the angle between the first PC of the two ADLs was around 90[Formula: see text]. In the coronal plane, the five ADLs except contralateral pick-up arrived at 90% VAF with two PCs. The motion pattern and the angle between the first PC both demonstrated larger differences among the five ADLs. Conclusion: Two PCs were essential to represent level walking and stair climbing, indicating a complex control strategy used by the NS. Trunk bending, ipsilateral pick-up and contralateral pick-up could be described with one PC in the sagittal plane, showing a strong coupling and simple motion pattern. In addition, the motion pattern varied considerably among these ADLs. The outcomes of this study can help clinicians to select suitable ADLs for the patients with various joint or disc diseases and to conduct corresponding functional test and rehabilitation.

Feedback control of the neuromusculoskeletal system in a forward dynamics simulation of stair locomotion

2009 ◽  
Vol 223 (6) ◽  
pp. 663-675 ◽  
Author(s):  
A Selk Ghafari ◽  
A Meghdari ◽  
G Vossoughi
Keyword(s):  
Feedback Control ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Sagittal Plane ◽  
Human Movement ◽  
Stair Climbing ◽  
Dynamics Simulation ◽  
Forward Dynamics ◽  
Control Loops ◽  
The Stability

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional—integral—derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of pressure during locomotion. The parameters of the proposed controller were determined by employing the iterative feedback tuning approach to minimize tracking errors during forward dynamics simulation. Simultaneously, an inverse-dynamics-based optimization was employed to compute a set of desired musculotendon forces in the closed-loop simulation to resolve muscle redundancy. Quantitative comparisons of the simulation results with the experimental measurements and the reference muscles' activities illustrate the accuracy and efficiency of the proposed method during the stable ascending simulation.

INFLUENCE OF VARIOUS DAILY TASKS ON SEGMENTED TRUNK KINEMATICS

2015 ◽  
Vol 27 (06) ◽  
pp. 1550058 ◽  
Author(s):  
Scott P. Breloff ◽  
Li-Shan Chou
Keyword(s):  
Back Pain ◽  
Activities Of Daily Living ◽  
Range Of Motion ◽  
Daily Living ◽  
Random Order ◽  
Obstacle Crossing ◽  
Trunk Motion ◽  
Stair Ascent ◽  
Level Walking ◽  
Lower Lumbar

Back pain can affect up to 65% of the American population and cost the health care system approximately fifty billion dollars each year. Due to the difficulty with recording spine/trunk movement, several methods and models exist. The myriad of methods and the need for understanding of spine/trunk motion has led to a lack in a ‘gold-standard’ of treatment for individuals with back pain. Therefore, the purpose of this study was to examine the effect of different activities of daily living on the kinematics of individual trunk segments in young adults to determine how common ambulatory tasks will alter trunk motion compared to level walking. Young healthy adults completed, in a random order, four activities of daily living: level walking, obstacle crossing, stair ascent and descent using a previously validated model. Subjects were outfitted with a full body marker set which included a segmented trunk. Multi-segmented trunk angles between the three inferior segments, sacrum to lower lumbar [SLL], lower lumbar to upper lumbar [LLUL] and upper lumbar to lower thorax [ULLT], were calculated and compared between tasks. Peak flexion angles, instance of peak angle and range of motion were analyzed. The overall hypothesis that different spine levels will have altered kinematics during various activities of daily living was supported. Stair descent had smaller peak flexion angles than obstacle crossing and stair ascent. The instance of peak angle were different depending on trunk angle and daily task. The most inferior trunk angle — Sacrum-to-Lower Lumbar — had the largest range of motion during all four tasks in all three (sagittal, frontal and transverse) planes of motion. This study was able to show how various activities of daily living produce different motions in the three inferior segments of a multi-segmented trunk method. The results of this study are the first steps in understanding how the trunk responds on a daily basis and how those responses could lead to back pain.

scholarly journals Influence of friction on knee internal rotation in patients with knee arthroplasties during activities of daily living

2019 ◽  
Vol 7 (6_suppl4) ◽  
pp. 2325967119S0022
Author(s):  
Igor Komnik ◽  
Sina David ◽  
Christine Haberrer ◽  
Stefan Weiss ◽  
Wolfgang Potthast
Keyword(s):  
Activities Of Daily Living ◽  
Internal Rotation ◽  
Knee Arthroplasty ◽  
Daily Living ◽  
Transverse Plane ◽  
Stair Climbing ◽  
Mechanical Resistance ◽  
Level Walking ◽  
Gait Posture ◽  
Kinematics And Kinetics

Aims and Objectives: In recent decades, knee arthroplasty (KA) succeeded to improve patients’ clinical scores and gait patterns [1]. However, to date, studies primary focused on biomechanical analysis of level walking with total knee arthroplasty (TKA) patients. The investigation of neuromuscular more challenging activities of daily living (ADL) like stair climbing and especially ramp negotiation was partly neglected [2]. Furthermore, non-sagittal plane parameters have mostly not been considered, whereby the evaluation of e.g. transverse plane kinematics and kinetics may reveal potential differences between various endoprosthetic designs. Additionally, frictional forces transmit appreciable shear between the femoral component and the tibial polyethylene insert, potentially contributing to axial knee rotational constraints and implant loosening [3]. The aim of this study was to investigate transverse plane kinematics and kinetics in connection with the force of friction (FOF) during ADL in patients after TKA and unicondylar knee arthroplasty (UKA) surgery. Materials and Methods: - Motion analysis was performed using a ten-camera 3D- motion capture system (100 Hz, Vicon). - Ground reaction forces were measured utilizing in a total five force plates (1000 Hz, Kistler) - Kinematics and inverse dynamics were calculated with AnyBody Modeling SystemTM (AnyBody Technology). - FOF was estimated of the two articulating artificial surfaces (#CHR: mu_LOWER# =0.12) compared with the cartilage on cartilage friction (#CHR: mu_LOWER# =0.01). The Coulomb model of friction was applied to calculate FOF (Ff=Fn* #CHR: mu_LOWER#). - Completed ADL: level and decline walking, stair descent. - Participants: TKA (n=11), UKA (n=13), controls (CG, n=13). - Statistics: Statistical non-Parametric Mapping (SnPM). Results: No statistically significant differences were detected between the TKA and UKA group, regardless of the locomotion task. Each motor task revealed impaired knee internal rotation angles in the TKA group compared with the CG (Fig. 1, a-c). Fig. 1 (d) clarifies the determining role of the coefficient of friction regarding FOF which showed the highest values during stair ascent and decline walking in all groups. Interestingly, the mentioned tasks exposed lower knee internal moment time series compared with level walking. Lower internal rotation moments might contribute in connection with high friction to the constraint knee internal rotation motion, particularly during ADL including greater normal force values, such as stair climbing and ramp negotiation. Conclusion: Apart from implant congruency in the TKA group, FOF could represent a mechanical resistance, which contributes to the impaired knee motion in the transverse plane. References Smith A, et al., J Orthop Res. 22:260-266, 2004. Komnik I, et al., Gait Posture. 41:370-377, 2015. Wolterbeek N, et al., Gait Posture. 36:394-398, 2012

Design of a Wheelchair Robot for Active Postural Support

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Rosemarie C. Murray ◽  
Chawin Ophaswongse ◽  
Sunil K. Agrawal
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Sagittal Plane ◽  
Control Architecture ◽  
Lateral Bending ◽  
Robotic Exoskeleton ◽  
Postural Support ◽  
And Control

This paper describes the design and control architecture of a novel wheelchair-mounted robot for active postural support (WRAPS). The WRAPS is a robotic exoskeleton that allows limited degrees-of-freedom of the trunk relative to the pelvis. There are three degrees-of-freedoms in the sagittal plane of the human body and one in lateral bending. The work is motivated by the needs of individuals with impaired trunk motor control, who currently rely on the use of passive and predominantly static supports to maintain a static posture. These devices can be overly restrictive and inhibit the user in their activities of daily living. The WRAPS is capable of supporting a human user within their active range of torso motion. It has the potential to assist users in their activities of daily living while encouraging a dynamic range of healthy postures.

The Assessment of Functional Age Using “Activities of Daily Living” Performance Tests: A Study of Korean Women

1995 ◽  
Vol 3 (1) ◽  
pp. 39-53 ◽  
Author(s):  
Hee Sik Kim ◽  
Kiyoji Tanaka
Keyword(s):  
Activities Of Daily Living ◽  
Older Women ◽  
Older Adult ◽  
Daily Living ◽  
Principal Component ◽  
Performance Tests ◽  
Korean Women ◽  
Principal Component Score ◽  
Performance Tasks ◽  
Adl Performance

The purpose of this study was to assess the extent to which a battery of 24 activities of daily living (ADL) performance tasks could be used to determine functional age in a sample of older women. The subjects were 253 older adult Korean women, aged 60 to 91 years. All subjects completed a comprehensive battery of 24 performance tests related to common activities of daily living. Correlations between the measures were computed, and principal component analysis was applied to the 24 × 24 correlation matrix. A principal component score was computed for each subject and was found to decrease significantly with advancing age. Multiple regression analysis revealed that out of the initial 24 variables, 5 variables accounted for 81% of the variability. An equation was developed to determine ADL age; the equation was considered useful for the assessment of daily living activities of older adult Korean women.

A pediatric robotic thumb exoskeleton for at-home rehabilitation

2014 ◽  
Vol 7 (3) ◽  
pp. 233-252 ◽  
Author(s):  
Patrick Aubin ◽  
Kelsey Petersen ◽  
Hani Sallum ◽  
Conor Walsh ◽  
Annette Correia ◽  
...  
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Hand Function ◽  
Maximum Efficiency ◽  
Fine Motor ◽  
Content Type ◽  
Flexion Extension ◽  
Linear Force ◽  
At Home

Purpose – Pediatric disorders, such as cerebral palsy and stroke, can result in thumb-in-palm deformity greatly limiting hand function. This not only limits children's ability to perform activities of daily living but also limits important motor skill development. Specifically, the isolated orthosis for thumb actuation (IOTA) is 2 degrees of freedom (DOF) thumb exoskeleton that can actuate the carpometacarpal (CMC) and metacarpophalangeal (MCP) joints through ranges of motion required for activities of daily living. The paper aims to discuss these issues. Design/methodology/approach – IOTA consists of a lightweight hand-mounted mechanism that can be secured and aligned to individual wearers. The mechanism is actuated via flexible cables that connect to a portable control box. Embedded encoders and bend sensors monitor the 2 DOF of the thumb and flexion/extension of the wrist. A linear force characterization was performed to test the mechanical efficiency of the cable-drive transmission and the output torque at the exoskeletal CMC and MCP joints was measured. Findings – Using this platform, a number of control modes can be implemented that will enable the device to be controlled by a patient to assist with opposition grasp and fine motor control. Linear force and torque studies showed a maximum efficiency of 44 percent, resulting in a torque of 2.39±1.06 in.-lbf and 0.69±0.31 in.-lbf at the CMC and MCP joints, respectively. Practical implications – The authors envision this at-home device augmenting the current in-clinic and at-home therapy, enabling telerehabilitation protocols. Originality/value – This paper presents the design and characterization of a novel device specifically designed for pediatric grasp telerehabilitation to facilitate improved functionality and somatosensory learning.

Kinematic and Kinetic Constraints on Arm, Trunk, and Leg Segments in Target-Reaching Movements

2005 ◽  
Vol 93 (1) ◽  
pp. 352-364 ◽  
Author(s):  
James S. Thomas ◽  
Daniel M. Corcos ◽  
Ziaul Hasan
Keyword(s):  
Degrees Of Freedom ◽  
Neural Control ◽  
Time Course ◽  
Sagittal Plane ◽  
Principal Component ◽  
Joint Torque ◽  
Trunk Flexion ◽  
Joint Torques ◽  
Joint Task ◽  
Task Conditions

We studied target reaching tasks involving not only the arms but also the trunk and legs, which necessitated some trunk flexion. Such tasks can be successfully completed using an infinite number of combinations of segment motions due to the inherent kinematic redundancy with the excessive degrees of freedom (DOFs). Sagittal plane motions of six segments (shank, thigh, pelvis, trunk, humerus, and forearm) and dynamic torques of six joints (ankle, knee, hip, lumbar, shoulder, and elbow) were analyzed separately by principal component (PC) analyses to determine if there was a commonality among the shapes of the respective waveforms. Additionally, PC analyses were used to probe for constraining relationships among the 1) relative magnitudes of segment excursions and 2) the peak-to-peak dynamic joint torques. In summary, at the kinematic level, the tasks are simplified by the use of a single common waveform for all segment excursions with 89.9% variance accounted for (VAF), but with less fixed relationships among the relative scaling of the magnitude of segment excursions (62.2% VAF). However, at the kinetic level, the time course of the dynamic joint torques are not well captured by a single waveform (72.7% VAF), but the tasks are simplified by relatively fixed relationships among the scaling of dynamic joint torque magnitudes across task conditions (94.7% VAF). Taken together, these results indicate that, while the effective DOFs in a multi-joint task are reduced differently at the kinematic and kinetic levels, they both contribute to simplifying the neural control of these tasks.

Design of a Wheelchair Robot for Active Postural Support

2018 ◽  
Author(s):  
Rosemarie C. Murray ◽  
Chawin Ophaswongse ◽  
Sunil K. Agrawal
Keyword(s):  
Motor Control ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Sagittal Plane ◽  
Control Architecture ◽  
Lateral Bending ◽  
Robotic Exoskeleton ◽  
Postural Support ◽  
And Control

This paper describes the design and control architecture of a novel Wheelchair-mounted Robot for Active Postural Support (WRAPS). The WRAPS is a robotic exoskeleton that allows limited degrees-of-freedom (DOFs) of the trunk relative to the pelvis. There are three DOFs in the sagittal plane of the human body and one in lateral bending. The work is motivated by the needs of individuals with impaired trunk motor control, who currently rely on the use of passive and predominantly static supports to maintain a static posture. These devices can be overly restrictive and inhibit the user in their activities of daily living (ADLs). The WRAPS is capable of supporting a human user within their active range of torso motion. It has the potential to assist users in their ADLs while encouraging a dynamic range of healthy postures.

The influence of foot hyperpronation on pelvic biomechanics during stance phase of the gait: A biomechanical simulation study

2018 ◽  
Vol 232 (7) ◽  
pp. 708-717 ◽  
Author(s):  
Farzaneh Yazdani ◽  
Mohsen Razeghi ◽  
Mohammad Taghi Karimi ◽  
Hadi Raeisi Shahraki ◽  
Milad Salimi Bani
Keyword(s):  
Degrees Of Freedom ◽  
Stance Phase ◽  
Pelvic Tilt ◽  
Sagittal Plane ◽  
Principal Component ◽  
Control Group ◽  
Low Back ◽  
Pelvic Inclination ◽  
Anterior Pelvic Tilt ◽  
Component Scores

Despite the theoretical link between foot hyperpronation and biomechanical dysfunction of the pelvis, the literature lacks evidence that confirms this assumption in truly hyperpronated feet subjects during gait. Changes in the kinematic pattern of the pelvic segment were assessed in 15 persons with hyperpronated feet and compared to a control group of 15 persons with normally aligned feet during the stance phase of gait based on biomechanical musculoskeletal simulation. Kinematic and kinetic data were collected while participants walked at a comfortable self-selected speed. A generic OpenSim musculoskeletal model with 23 degrees of freedom and 92 muscles was scaled for each participant. OpenSim inverse kinematic analysis was applied to calculate segment angles in the sagittal, frontal and horizontal planes. Principal component analysis was employed as a data reduction technique, as well as a computational tool to obtain principal component scores. Independent-sample t-test was used to detect group differences. The difference between groups in scores for the first principal component in the sagittal plane was statistically significant (p = 0.01; effect size = 1.06), but differences between principal component scores in the frontal and horizontal planes were not significant. The hyperpronation group had greater anterior pelvic tilt during 20%–80% of the stance phase. In conclusion, in persons with hyperpronation we studied the role of the pelvic segment was mainly to maintain postural balance in the sagittal plane by increasing anterior pelvic inclination. Since anterior pelvic tilt may be associated with low back symptoms, the evaluation of foot posture should be considered in assessing the patients with low back and pelvic dysfunction.

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