scholarly journals Are Torque-Driven Simulation Models of Human Movement Limited by an Assumption of Monoarticularity?

2021 ◽  
Vol 11 (9) ◽  
pp. 3852
Author(s):  
Martin G. C. Lewis ◽  
Maurice R. Yeadon ◽  
Mark A. King
Keyword(s):  
Lower Limb ◽  
Simulation Models ◽  
Human Movement ◽  
Joint Torque ◽  
Whole Body ◽  
Countermovement Jump ◽  
Joint Torques ◽  
Large Joint ◽  
Subject Specific ◽  
Similar Accuracy

Subject-specific torque-driven computer simulation models employing single-joint torque generators have successfully simulated various sports movements with a key assumption that the maximal torque exerted at a joint is a function of the kinematics of that joint alone. This study investigates the effect on model accuracy of single-joint or two-joint torque generator representations within whole-body simulations of squat jumping and countermovement jumping. Two eight-segment forward dynamics subject-specific rigid body models with torque generators at five joints are constructed—the first model includes lower limb torques, calculated solely from single-joint torque generators, and the second model includes two-joint torque generators. Both models are used to produce matched simulations to a squat jump and a countermovement jump by varying activation timings to the torque generators in each model. The two-joint torque generator model of squat and countermovement jumps matched measured jump performances more closely (6% and 10% different, respectively) than the single-joint simulation model (10% and 24% different, respectively). Our results show that the two-joint model performed better for squat jumping and the upward phase of the countermovement jump by more closely matching faster joint velocities and achieving comparable amounts of lower limb joint extension. The submaximal descent phase of the countermovement jump was matched with similar accuracy by the two models (9% difference). In conclusion, a two-joint torque generator representation is likely to be more appropriate for simulating dynamic tasks requiring large joint torques and near-maximal joint velocities.

scholarly journals Human kinematic, kinetic and EMG data during different walking and stair ascending and descending tasks

2019 ◽  
Vol 6 (1) ◽  
Author(s):  
Tiziana Lencioni ◽  
Ilaria Carpinella ◽  
Marco Rabuffetti ◽  
Alberto Marzegan ◽  
Maurizio Ferrarin
Keyword(s):  
Lower Limb ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Simulation Models ◽  
Human Locomotion ◽  
Surface Emg ◽  
Whole Body ◽  
Bipedal Robots ◽  
Lower Limb Muscles ◽  
Reaction Forces

AbstractThis paper reports the kinematic, kinetic and electromyographic (EMG) dataset of human locomotion during level walking at different velocities, toe- and heel-walking, stairs ascending and descending. A sample of 50 healthy subjects, with an age between 6 and 72 years, is included. For each task, both raw data and computed variables are reported including: the 3D coordinates of external markers, the joint angles of lower limb in the sagittal, transversal and horizontal anatomical planes, the ground reaction forces and torques, the center of pressure, the lower limb joint mechanical moments and power, the displacement of the whole body center of mass, and the surface EMG signals of the main lower limb muscles. The data reported in the present study, acquired from subjects with different ages, represents a valuable dataset useful for future studies on locomotor function in humans, particularly as normative reference to analyze pathological gait, to test the performance of simulation models of bipedal locomotion, and to develop control algorithms for bipedal robots or active lower limb exoskeletons for rehabilitation.

scholarly journals Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

Sensors ◽  
2019 ◽  
Vol 19 (12) ◽  
pp. 2794 ◽  
Author(s):  
Claudia Latella ◽  
Silvio Traversaro ◽  
Diego Ferigo ◽  
Yeshasvi Tirupachuri ◽  
Lorenzo Rapetti ◽  
...  
Keyword(s):  
Motion Tracking ◽  
Tracking System ◽  
Joint Torque ◽  
Whole Body ◽  
Joint Torques ◽  
Floating Base ◽  
Fixed Base ◽  
Human Estimation ◽  
External Forces ◽  
Motion Tracking System

The paper presents a stochastic methodology for the simultaneous floating-base estimation of the human whole-body kinematics and dynamics (i.e., joint torques, internal and external forces). The paper builds upon our former work where a fixed-base formulation had been developed for the human estimation problem. The presented approach is validated by presenting experimental results of a health subject equipped with a wearable motion tracking system and a pair of shoes sensorized with force/torque sensors while performing different motion tasks, e.g., walking on a treadmill. The results show that joint torque estimates obtained by using floating-base and fixed-base approaches match satisfactorily, thus validating the present approach.

scholarly journals Bounded Control of an Actuated Lower-Limb Exoskeleton

2017 ◽  
Vol 2017 ◽  
pp. 1-20
Author(s):  
Michael Oluwatosin Ajayi ◽  
Karim Djouani ◽  
Yskandar Hamam
Keyword(s):  
Lower Limb ◽  
Angular Position ◽  
High Gain ◽  
Joint Torque ◽  
Control Law ◽  
Bounded Control ◽  
Joint Torques ◽  
Lower Limb Exoskeleton ◽  
High Gain Observer ◽  
Angular Velocities

A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands for a bounded human torque; that is, τh≤N2,n≤N1,n. The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis. Simulations are performed to verify the proposed control law. Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory.

The Importance of Biarticular Torque Generators in Torque-Driven Simulation Models

2012 ◽  
Author(s):  
Mark King ◽  
Martin Lewis
Keyword(s):  
Simulation Models ◽  
Human Movement ◽  
Forward Dynamics ◽  
Strength Parameters ◽  
Individual Muscle ◽  
Torque Measurements ◽  
Biarticular Muscles ◽  
Subject Specific ◽  
Computer Simulation Models ◽  
Muscle Models

Forward-dynamics computer simulation models of human movement are typically driven by individual muscle models, or torque generators. In muscle-driven models, muscle parameters are typically determined from experimental data in the literature. While in torque-driven models, subject-specific torque parameters can be determined from torque measurements collected on an isovelocity dynamometer. Such a method avoids some of the errors encountered with individual muscle models by determining strength parameters directly from torque measurements. The disadvantage of existing subject-specific torque generator models over individual muscle models has been that the torque exerted at a joint has been represented by a function of the kinematics of the primary joint. As such torque generator models may not accurately represent the torques exerted by biarticular muscles where the kinematics of a primary and secondary joint may be important.

An EMG-Driven Forward Dynamics Model to Simulate Stance Phase of Gait

2009 ◽  
Author(s):  
Qi Shao ◽  
Kurt Manal ◽  
Thomas S. Buchanan
Keyword(s):  
Muscle Activation ◽  
Stance Phase ◽  
Control Strategies ◽  
Neuromuscular Control ◽  
Human Movement ◽  
Joint Torque ◽  
Forward Dynamics ◽  
Activation Patterns ◽  
Joint Torques ◽  
Muscle Activation Patterns

Simulations based on forward dynamics have been used to identify the biomechanical mechanisms how human movement is generated. They used either net joint torques [1] or muscle forces [2, 3, 4] as actuators to drive forward simulation. However, very few models used EMG-based patterns to define muscle excitations [4] or were actually driven by EMGs. Muscle activation patterns vary from subject to subject and from movement to movement, and the activations depend on the control task, sometimes quite different even for the same joint angle and joint torque [5]. Using EMG as input can account for subjects’ different muscle activation patterns and help revealing the neuromuscular control strategies.

On the Use of Induced End Effector Force Analysis for Determining Muscle Roles During Movement

2007 ◽  
Author(s):  
Stephen J. Piazza ◽  
Vladimir M. Zatsiorsky
Keyword(s):  
Electrical Stimulation ◽  
Muscle Function ◽  
Muscle Force ◽  
Human Movement ◽  
The Body ◽  
Joint Torque ◽  
Force Analysis ◽  
End Effector ◽  
Joint Torques ◽  
Muscle Strengthening

It is often of interest in studies of human movement to quantify the function of a muscle force or muscular joint torque. Such information is useful for the identification of the causes of movement disorders and for predicting the effects of interventions including surgical procedures, targeted muscle strengthening, focal treatments for spasticity, and functional electrical stimulation. One useful way to characterize the actions of muscle forces or muscular joint torques is to create linked-segment models of the body and analyze these linkages to determine the joint angular accelerations or end effector forces that result solely from the application of the muscle force or torque in question. Such induced acceleration (IA) analyses or induced end effector force (IEF) analyses have been applied most often to quantify muscle function during normal and pathological walking [1,2].

scholarly journals Upper-Limb Isometric Force Feasible Set: Evaluation of Joint Torque-Based Models

Biomechanics ◽  
2021 ◽  
Vol 1 (1) ◽  
pp. 102-117
Author(s):  
Nasser Rezzoug ◽  
Vincent Hernandez ◽  
Philippe Gorce
Keyword(s):  
Upper Limb ◽  
Isometric Force ◽  
Joint Torque ◽  
Force Distribution ◽  
Prediction Errors ◽  
Feasible Set ◽  
Joint Torques ◽  
Motor Abilities ◽  
Capacity Evaluation ◽  
Measured Force

A force capacity evaluation for a given posture may provide better understanding of human motor abilities for applications in sport sciences, rehabilitation and ergonomics. From data on posture and maximum isometric joint torques, the upper-limb force feasible set of the hand was predicted by four models called force ellipsoid, scaled force ellipsoid, force polytope and scaled force polytope, which were compared with a measured force polytope. The volume, shape and force prediction errors were assessed. The scaled ellipsoid underestimated the maximal mean force, and the scaled polytope overestimated it. The scaled force ellipsoid underestimated the volume of the measured force distribution, whereas that of the scaled polytope was not significantly different from the measured distribution but exhibited larger variability. All the models characterized well the elongated shape of the measured force distribution. The angles between the main axes of the modelled ellipsoids and polytopes and that of the measured polytope were compared. The values ranged from 7.3° to 14.3°. Over the entire surface of the force ellipsoid, 39.7% of the points had prediction errors less than 50 N; 33.6% had errors between 50 and 100 N; and 26.8% had errors greater than 100N. For the force polytope, the percentages were 56.2%, 28.3% and 15.4%, respectively.

scholarly journals Lower Limb Kinematics in Individuals with Hip Osteoarthritis during Gait: A Focus on Adaptative Strategies and Interlimb Symmetry

2021 ◽  
Vol 8 (4) ◽  
pp. 47
Author(s):  
Micaela Porta ◽  
Massimiliano Pau ◽  
Bruno Leban ◽  
Michela Deidda ◽  
Marco Sorrentino ◽  
...  
Keyword(s):  
Lower Limb ◽  
Functional Limitations ◽  
Hip Osteoarthritis ◽  
Movement Analysis ◽  
Human Movement ◽  
Point Of View ◽  
Negative Effects ◽  
Gait Patterns ◽  
Limb Kinematics

Among the functional limitations associated with hip osteoarthritis (OA), the alteration of gait capabilities represents one of the most invalidating as it may seriously compromise the quality of life of the affected individual. The use of quantitative techniques for human movement analysis has been found valuable in providing accurate and objective measures of kinematics and kinetics of gait in individuals with hip OA, but few studies have reported in-depth analyses of lower limb joint kinematics during gait and, in particular, there is a scarcity of data on interlimb symmetry. Such aspects were investigated in the present study which tested 11 individuals with hip OA (mean age 68.3 years) and 11 healthy controls age- and sex-matched, using 3D computerized gait analysis to perform point-by-point comparisons of the joint angle trends of hip, knee, and ankle. Angle-angle diagrams (cyclograms) were also built to compute several parameters (i.e., cyclogram area and orientation and Trend Symmetry) from which to assess the degree of interlimb symmetry. The results show that individuals with hip OA exhibit peculiar gait patterns characterized by severe modifications of the physiologic trend at hip level even in the unaffected limb (especially during the stance phase), as well as minor (although significant) alterations at knee and ankle level. The symmetry analysis also revealed that the effect of the disease in terms of interlimb coordination is present at knee joint as well as hip, while the ankle joint appears relatively preserved from specific negative effects from this point of view. The availability of data on such kinematic adaptations may be useful in supporting the design of specific rehabilitative strategies during both preoperative and postoperative periods.

scholarly journals POS0574 RELATIONSHIP BETWEEN INVOLVED JOINT FOR REGION AND MODIFIED HEALTH ASSESSMENT QUESTIONNAIRE SCORE IN JAPANESE PATIENT WITH RHEUMATOID ARTHRITIS

2021 ◽  
Vol 80 (Suppl 1) ◽  
pp. 521.2-521
Author(s):  
I. Yoshii
Keyword(s):  
Health Assessment Questionnaire ◽  
Global Assessment ◽  
Disease Duration ◽  
Health Assessment ◽  
Lower Extremities ◽  
Upper Extremities ◽  
Whole Body ◽  
Large Joint ◽  
Small Joint ◽  
Assessment Questionnaire

Objectives:Rheumatoid arthritis (RA) is a chronic inflammatory disease that involves various joints in whole body. For evaluation of daily life activities (ADL), modified Health Assessment Questionnaire (mHAQ) is usually used. This index configures eight ADL functions these are separated by predominant extremities. This study aimed to evaluate how involved joint affect ADL predominantly in real world setting.Methods:A total of 24,450 times of consultation with RA patient were visited in the institute. Here, patient with RA was interviewed every another visit, and involved joint in whole body, pain score with visual analog scale (PS-VAS), and mHAQ were recorded. Involved joints were divided by four regions in accordance with joint size and part; small joint in upper extremities (US), large joint in upper extremities (UL), small joint in lower extremities (LS), and large joint in lower extremities (LL). mHAQ was also separately evaluated in accordance with predominant regions; upper extremities predominant mHAQ (mHAQ_UE), and lower extremities predominant mHAQ (mHAQ_LE). Adding to these parameters, as an index for disease activity monitoring, components of the simplified disease activity index score (SDAI) was also recorded. Relationship between mHAQ for each predominant extremities, and these parameters and sex, age, disease duration of RA, anti-cyclic citrullinated polypeptide antibodies (ACPA), rheumatoid factor (RF), and Sharp/van der Heijde score (SHS), were statistically evaluated using linear regression analysis.Results:mHAQ_UE significantly correlated with age, ACPA and RF titre, SHS, tenderness joint count (TJC), patient’s global assessment (PGA), evaluator’s global assessment (EGA), C-reactive protein (CRP), US, UL, LL, and PS-vas, whereas mHAQ-LE significantly correlated with all parameters that demonstrated significant correlation with mHAQ-UE and disease duration. mHAQ also correlated with all parameters those that demonstrated significant correlation with mHAQ-LE. Interestingly, all of mHAQ-UE, mHAQ-LE, and mHAQ did not correlated significantly with swollen joint count (SJC) and LS.Conclusion:mHAQ is influenced by various factors, however, SJC and involvement of small joint in lower extremities did not affect mHAQ.Disclosure of Interests:None declared

Stance- and Locomotion-Dependent Processing of Vibration-Induced Proprioceptive Inflow From Multiple Muscles in Humans

2007 ◽  
Vol 97 (1) ◽  
pp. 772-779 ◽  
Author(s):  
Grégoire Courtine ◽  
Alessandro Marco De Nunzio ◽  
Micaela Schmid ◽  
Maria Vittoria Beretta ◽  
Marco Schieppati
Keyword(s):  
Lower Limb ◽  
The Body ◽  
Whole Body ◽  
Neck Muscle ◽  
Muscle Vibration ◽  
Mapping Study ◽  
Body Mapping ◽  
Neck Muscle Vibration ◽  
Postural Changes ◽  
Postural Orientation

We performed a whole-body mapping study of the effect of unilateral muscle vibration, eliciting spindle Ia firing, on the control of standing and walking in humans. During quiet stance, vibration applied to various muscles of the trunk-neck system and of the lower limb elicited a significant tilt in whole body postural orientation. The direction of vibration-induced postural tilt was consistent with a response compensatory for the illusory lengthening of the stimulated muscles. During walking, trunk-neck muscle vibration induced ample deviations of the locomotor trajectory toward the side opposite to the stimulation site. In contrast, no significant modifications of the locomotor trajectory could be detected when vibrating various muscles of the lower as well as upper limb. The absence of correlation between the effects of muscle vibration during walking and standing dismisses the possibility that vibration-induced postural changes can account for the observed deviations of the locomotor trajectory during walking. We conclude that the dissimilar effects of trunk-neck and lower limb muscle vibration during walking and standing reflect a general sensory-motor plan, whereby muscle Ia input is processed according to both the performed task and the body segment from which the sensory inflow arises.

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