scholarly journals Lower Limb Kinematics Using Inertial Sensors during Locomotion: Accuracy and Reproducibility of Joint Angle Calculations with Different Sensor-to-Segment Calibrations

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 715 ◽  
Author(s):  
Julien Lebleu ◽  
Thierry Gosseye ◽  
Christine Detrembleur ◽  
Philippe Mahaudens ◽  
Olivier Cartiaux ◽  
...  
Keyword(s):  
Lower Limb ◽  
Inertial Sensors ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Human Movement ◽  
Absolute Difference ◽  
Measurement Unit ◽  
Joint Angles ◽  
3D Tracking ◽  
Limb Kinematics

Inertial measurement unit (IMU) records of human movement can be converted into joint angles using a sensor-to-segment calibration, also called functional calibration. This study aims to compare the accuracy and reproducibility of four functional calibration procedures for the 3D tracking of the lower limb joint angles of young healthy individuals in gait. Three methods based on segment rotations and one on segment accelerations were used to compare IMU records with an optical system for their accuracy and reproducibility. The squat functional calibration movement, offering a low range of motion of the shank, provided the least accurate measurements. A comparable accuracy was obtained in other methods with a root mean square error below 3.6° and an absolute difference in amplitude below 3.4°. The reproducibility was excellent in the sagittal plane (intra-class correlation coefficient (ICC) > 0.91, standard error of measurement (SEM) < 1.1°), good to excellent in the transverse plane (ICC > 0.87, SEM < 1.1°), and good in the frontal plane (ICC > 0.63, SEM < 1.2°). The better accuracy for proximal joints in calibration movements using segment rotations was traded to distal joints in calibration movements using segment accelerations. These results encourage further applications of IMU systems in unconstrained rehabilitative contexts.

Sensitivity of the Toe Height to Multijoint Angular Changes in the Lower Limbs During Unobstructed and Obstructed Gait

2020 ◽  
pp. 1-9
Author(s):  
Chuyi Cui ◽  
Brittney Muir ◽  
Shirley Rietdyk ◽  
Jeffrey Haddad ◽  
Richard van Emmerik ◽  
...  
Keyword(s):  
Young Adults ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Singular Value ◽  
Lower Limbs ◽  
Joint Angles ◽  
Adult Lifespan ◽  
Main Contributor ◽  
Bilateral Lower Limb

Tripping while walking is a main contributor to falls across the adult lifespan. Trip risk is proportional to variability in toe clearance. To determine the sources of this variability, the authors computed for 10 young adults the sensitivity of toe clearance to 10 bilateral lower limb joint angles during unobstructed and obstructed walking when the lead and the trail limb crossed the obstacle. The authors computed a novel measure—singular value of the appropriate Jacobian—as the combined toe clearance sensitivity to 4 groups of angles: all sagittal and all frontal plane angles and all swing and all stance limb angles. Toe clearance was most sensitive to the stance hip ab/adduction for unobstructed gait. For obstructed gait, sensitivity to other joints increased and matched the sensitivity to stance hip ab/adduction. Combined sensitivities revealed critical information that was not evident in the sensitivities to individual angles. The combined sensitivity to stance limb angles was 84% higher than swing limb angles. The combined sensitivity to the sagittal plane angles was lower than the sensitivity to the frontal plane angles during unobstructed gait, and this relation was reversed during obstacle crossing. The results highlight the importance of the stance limb joints and indicate that frontal plane angles should not be ignored.

Biomechanical Performance of Habitually Barefoot and Shod Runners during Barefoot Jogging and Running

2018 ◽  
Vol 38 ◽  
pp. 1-10 ◽  
Author(s):  
Suo Di Xu ◽  
Zhi Qiang Liang ◽  
Yu Wei Liu ◽  
Gusztáv Fekete
Keyword(s):  
Lower Limb ◽  
Sagittal Plane ◽  
Center Of Pressure ◽  
Reaction Force ◽  
Three Dimensional ◽  
Frontal Plane ◽  
Influential Factor ◽  
Hip Abduction ◽  
Foot Strike ◽  
Limb Kinematics

The purpose of this study was to evaluate the biomechanical performances, running stability of habitually barefoot (BR) and shod runners (SR) during barefoot jogging and running. Ten healthy male subjects, 5 habitually shod runners and 5 habitually barefoot runners, from two different ethnics participated in this study. Subjects performed jogging (2m/s) and running (4m/s) along a 10-m runway. Three-dimensional lower-limb kinematics, ground reaction force, center of pressure (COP) and contact time (CT), were collected during testing. During jogging and running, all participants adopted rear-foot strike pattern, SR had larger VALR. SR showed significantly larger lower-limb range of motion (ROM) in sagittal plane, significantly larger hip abduction and opposite knee ROM in frontal plane, as well as significantly larger ankle internal rotation in horizontal plane. All participants’ CT showed decreased trend with running speed up; and SR was significantly longer than BR; BR and SR in COP showed different trajectories, especially forefoot and rearfoot areas. Habitually barefoot and shod runner from different ethnics still exist significant differences in lower-extremity ROM; and different foot morphological of participants is an important influential factor for these variations.

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 Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

2019 ◽  
Vol 11 (4) ◽  
Author(s):  
Alexander Agboola-Dobson ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Lower Limb ◽  
Degrees Of Freedom ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Variable Stiffness ◽  
Plane Motion ◽  
Biologically Inspired ◽  
Passive Rotation ◽  
Ground Conditions ◽  
Biologically Inspired Design

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a series-elastic actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable to provide both powered sagittal plane flexion and two degrees of freedom (2-DOF) at the ankle, removing the ankle’s capacity to invert/evert, thus severely limiting terrain adaption capabilities and user comfort. The developed 2-DOF ankle system in this paper allows both powered flexion in the sagittal plane and passive rotation in the frontal plane; an SEA emulates the biomechanics of the gastrocnemius and Achilles tendon for flexion while a novel universal-joint system provides the 2-DOF. Several studies were undertaken to thoroughly characterize the capabilities of the device. Under both level- and sloped-ground conditions, ankle torque and kinematic data were obtained by using force-plates and a motion capture system. The device was found to be fully capable of providing powered sagittal plane motion and torque very close to that of a biological ankle while simultaneously being able to adapt to sloped terrain by undergoing frontal plane motion, thus providing 2-DOF at the ankle. These findings demonstrate that the device presented in this paper poses radical improvements to powered prosthetic ankle-foot device (PAFD) design.

Joint-Level Analyses of the Back Squat With and Without Intraset Rest

2019 ◽  
Vol 14 (5) ◽  
pp. 583-589 ◽  
Author(s):  
Jason D. Stone ◽  
Adam C. King ◽  
Shiho Goto ◽  
John D. Mata ◽  
Joseph Hannon ◽  
...  
Keyword(s):  
Sagittal Plane ◽  
Movement Pattern ◽  
Joint Angles ◽  
Mean Power ◽  
Joint Power ◽  
Joint Level ◽  
Back Squat ◽  
Squat Exercise ◽  
Limb Kinematics ◽  
Plane Joint

Purpose: To provide a joint-level analysis of traditional (TS) and cluster (CS) set structure during the back-squat exercise. Methods: Eight men (24 [3] y, 177.3 [7.9] cm, 82.7 [11.0] kg, 11.9 [3.5] % body fat, and 150.3 [23.0] kg 1-repetition maximum [1RM]) performed the back-squat exercise (80%1RM) using TS (4 × 6, 2-min interset rest) and CS (4 × [2 × 3], 30-s intraset rest, 90-s interset rest), randomly. Lower-limb kinematics were collected by motion capture, as well as kinetic data by bilateral force platforms. Results: CS attenuated the loss in mean power (TS −21.6% [3.9%]; CS −12.4% [7.5%]; P = .042), although no differences in gross movement pattern (sagittal-plane joint angles) within and between conditions were observed (P ≥ .05). However, joint power produced at the hip increased from repetition (REP) 1 through REP 6 during TS, while a decrease was noted at the knee. A similar pattern was observed in the CS condition but was limited to the hip. Joint power produced at the hip increased from REP 1 through REP 3 but returned to REP 1 values before a similar increase through REP 6, resulting in differences between conditions (REP 4, P = .018; REP 5, P = .022). Conclusions: Sagittal-plane joint angles did not change in either condition, although CS elicited greater power. Differing joint power contributions (hip and knee) suggest potential central mechanism that may contribute to enhanced power output during CS and warrant further study. Practitioners should consider incorporating CS into training to promote greater power adaptations and to mitigate fatigue.

A Novel Training Bike and Camera System to Evaluate Pose of Cyclists

2020 ◽  
Author(s):  
Raman Garimella ◽  
Koen Beyers ◽  
Thomas Peeters ◽  
Stijn Verwulgen ◽  
Seppe Sels ◽  
...  
Keyword(s):  
Inertial Sensors ◽  
Sagittal Plane ◽  
Aerodynamic Drag ◽  
Linear Regression Analysis ◽  
The Body ◽  
Frontal Area ◽  
Motion Sensors ◽  
Joint Angles ◽  
Camera System ◽  
Flexion Extension

Abstract Aerodynamic drag force can account for up to 90% of the opposing force experienced by a cyclist. Therefore, aerodynamic testing and efficiency is a priority in cycling. An inexpensive method to optimize performance is required. In this study, we evaluate a novel indoor setup as a tool for aerodynamic pose training. The setup consists of a bike, indoor home trainer, camera, and wearable inertial motion sensors. A camera calculates frontal area of the cyclist and the trainer varies resistance to the cyclist by using this as an input. To guide a cyclist to assume an optimal pose, joint angles of the body are an objective metric. To track joint angles, two methods were evaluated: optical (RGB camera for the two-dimensional angles in sagittal plane of 6 joints), and inertial sensors (wearable sensors for three-dimensional angles of 13 joints). One (1) male amateur cyclist was instructed to recreate certain static and dynamic poses on the bike. The inertial sensors provide excellent results (absolute error = 0.28°) for knee joint. Based on linear regression analysis, frontal area can be best predicted (correlation &gt; 0.4) by chest anterior/posterior tilt, pelvis left/right rotation, neck flexion/extension, chest left/right rotation, and chest left/right lateral tilt (p &lt; 0.01).

scholarly journals Validity of a New 3-D Motion Analysis Tool for the Assessment of Knee, Hip and Spine Joint Angles during the Single Leg Squat

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4539
Author(s):  
Igor Tak ◽  
Willem-Paul Wiertz ◽  
Maarten Barendrecht ◽  
Rob Langhout
Keyword(s):  
Sagittal Plane ◽  
Frontal Plane ◽  
Analysis Tool ◽  
Joint Angles ◽  
Cross Sectional ◽  
Physically Active ◽  
Peak Knee ◽  
Passive Tracking ◽  
Single Leg Squat ◽  
University Laboratory

Aim: Study concurrent validity of a new sensor-based 3D motion capture (MoCap) tool to register knee, hip and spine joint angles during the single leg squat. Design: Cross-sectional. Setting: University laboratory. Participants: Forty-four physically active (Tegner ≥ 5) subjects (age 22.8 (±3.3)) Main outcome measures: Sagittal and frontal plane trunk, hip and knee angles at peak knee flexion. The sensor-based system consisted of 4 active (triaxial accelerometric, gyroscopic and geomagnetic) sensors wirelessly connected with an iPad. A conventional passive tracking 3D MoCap (OptiTrack) system served as gold standard. Results: All sagittal plane measurement correlations observed were very strong for the knee and hip (r = 0.929–0.988, p < 0.001). For sagittal plane spine assessment, the correlations were moderate (r = 0.708–0.728, p < 0.001). Frontal plane measurement correlations were moderate in size for the hip (ρ = 0.646–0.818, p < 0.001) and spine (ρ = 0.613–0.827, p < 0.001). Conclusions: The 3-D MoCap tool has good to excellent criterion validity for sagittal and frontal plane angles occurring in the knee, hip and spine during the single leg squat. This allows bringing this type of easily accessible MoCap technology outside laboratory settings.

scholarly journals Estimating Lower Limb Kinematics Using a Lie Group Constrained Extended Kalman Filter with a Reduced Wearable IMU Count and Distance Measurements

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6829
Author(s):  
Luke Wicent F. Sy ◽  
Nigel H. Lovell ◽  
Stephen J. Redmond
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Lie Group ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Ultra Wideband ◽  
Distance Measurements ◽  
Limb Kinematics ◽  
Mean Square Errors ◽  
Lower Limb Kinematics

Tracking the kinematics of human movement usually requires the use of equipment that constrains the user within a room (e.g., optical motion capture systems), or requires the use of a conspicuous body-worn measurement system (e.g., inertial measurement units (IMUs) attached to each body segment). This paper presents a novel Lie group constrained extended Kalman filter to estimate lower limb kinematics using IMU and inter-IMU distance measurements in a reduced sensor count configuration. The algorithm iterates through the prediction (kinematic equations), measurement (pelvis height assumption/inter-IMU distance measurements, zero velocity update for feet/ankles, flat-floor assumption for feet/ankles, and covariance limiter), and constraint update (formulation of hinged knee joints and ball-and-socket hip joints). The knee and hip joint angle root-mean-square errors in the sagittal plane for straight walking were 7.6±2.6∘ and 6.6±2.7∘, respectively, while the correlation coefficients were 0.95±0.03 and 0.87±0.16, respectively. Furthermore, experiments using simulated inter-IMU distance measurements show that performance improved substantially for dynamic movements, even at large noise levels (σ=0.2 m). However, further validation is recommended with actual distance measurement sensors, such as ultra-wideband ranging sensors.

Muscle Contributions to Balance Control During Amputee and Nonamputee Stair Ascent

2020 ◽  
Vol 142 (12) ◽  
Author(s):  
Nicole G. Harper ◽  
Jason M. Wilken ◽  
Richard R. Neptune
Keyword(s):  
Angular Momentum ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Balance Control ◽  
Dynamic Balance ◽  
Frontal Plane ◽  
Rate Of Change ◽  
Prosthetic Devices ◽  
Stair Ascent

Abstract Dynamic balance is controlled by lower-limb muscles and is more difficult to maintain during stair ascent compared to level walking. As a result, individuals with lower-limb amputations often have difficulty ascending stairs and are more susceptible to falls. The purpose of this study was to identify the biomechanical mechanisms used by individuals with and without amputation to control dynamic balance during stair ascent. Three-dimensional muscle-actuated forward dynamics simulations of amputee and nonamputee stair ascent were developed and contributions of individual muscles, the passive prosthesis, and gravity to the time rate of change of angular momentum were determined. The prosthesis replicated the role of nonamputee plantarflexors in the sagittal plane by contributing to forward angular momentum. The prosthesis largely replicated the role of nonamputee plantarflexors in the transverse plane but resulted in a greater change of angular momentum. In the frontal plane, the prosthesis and nonamputee plantarflexors contributed oppositely during the first half of stance while during the second half of stance, the prosthesis contributed to a much smaller extent. This resulted in altered contributions from the intact leg plantarflexors, vastii and hamstrings, and the intact and residual leg hip abductors. Therefore, prosthetic devices with altered contributions to frontal-plane angular momentum could improve balance control during amputee stair ascent and minimize necessary muscle compensations. In addition, targeted training could improve the force production magnitude and timing of muscles that regulate angular momentum to improve balance control.

scholarly journals Accelerometer-Based Navigation in Total Knee Arthroplasty for the Management of Extra-Articular Deformity and Retained Femoral Hardware: Analysis of Component Alignment

Joints ◽  
2019 ◽  
Vol 07 (01) ◽  
pp. 001-007 ◽  
Author(s):  
Andrea Cozzi Lepri ◽  
Matteo Innocenti ◽  
Fabrizio Matassi ◽  
Marco Villano ◽  
Roberto Civinini ◽  
...  
Keyword(s):  
Total Knee Arthroplasty ◽  
Knee Arthroplasty ◽  
Navigation System ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Control Group ◽  
Navigation Systems ◽  
Level Of Evidence ◽  
Total Knee

Abstract Purpose Recent advances in total knee arthroplasty (TKA) include an accelerometer portable system designed to improve component position and alignment. The purpose of this study is to evaluate whether accelerometer navigation system can be a valuable option in complex TKAs for extra-articular deformity of the lower limb or in case of retained femoral hardware. Methods A group of 13 patients underwent TKA with an accelerometer navigation system. Three patients had a tibial extra-articular deformity, six had a femoral extra-articular deformity, and four had an intramedullary nail in the femur. Preoperative and postoperative mechanical axes were measured from full-length lower extremity radiographs to evaluate alignment. The alignment of prosthetic components in the frontal and sagittal planes was determined by postoperative radiographs. Results At 30-days postoperative radiographic check, the hip knee ankle angle was within 2.0° (0 ± 1) of the neutral mechanical axis. The alignment of the tibial component on the frontal plane was 90.0° (range 89–91) and on the sagittal plane 5.0° (range 3–7). The alignment of the femoral component on the frontal plane was 90.0° (range 89–91) and on the sagittal plane 3.0° (range 0–5). Conclusion The alignment of the prosthetic components has been accurate and comparable to other navigation systems in literature without any increase in surgical times. The accelerometer-based navigation system is therefore a useful technique that can be used to optimize TKA alignment in patients with extra-articular deformity or with lower limb hardware, where the intramedullary guides cannot be applied. Level of Evidence This is an observational study without a control group, Level III.

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