Open-source software library for real-time inertial measurement unit data-based inverse kinematics using OpenSim.

Background: Inertial measurements (IMUs) facilitate the measurement of human motion outside the motion laboratory. A commonly used open-source software for musculoskeletal simulation and analysis of human motion, OpenSim, includes a tool to enable kinematics analysis of IMU data. However, it only enables offline analysis, i.e., analysis after the data has been collected. Extending OpenSim's functionality to allow real-time kinematics analysis would allow real-time feedback for the subject during the measurement session and has uses in e.g., rehabilitation, robotics, and ergonomics. Methods: We developed an open-source software library for real-time inverse kinematics (IK) analysis of IMU data using OpenSim. The software library reads data from IMUs and uses multithreading for concurrent calculation of IK. Its operation delays and throughputs were measured with a varying number of IMUs and parallel computing IK threads using two different musculoskeletal models, one a lower-body and torso model and the other a full-body model. We published the code under an open-source license on GitHub. Results: A standard desktop computer calculated full-body inverse kinematics from treadmill walking at 1.5 m/s with data from 12 IMUs in real-time with a mean delay below 55 ms and reached a throughput of more than 90 samples per second. A laptop computer had similar delays and reached a throughput above 60 samples per second with treadmill walking. Minimal walking kinematics, motion of lower extremities and torso, were calculated from treadmill walking data in real-time with a throughput of 130 samples per second on the laptop and 180 samples per second on the desktop computer, with approximately half the delay of full-body kinematics. Conclusions: The software library enabled real-time inverse kinematical analysis with different numbers of IMUs and customizable musculoskeletal models. The performance results show that subject-specific full-body motion analysis is feasible in real-time, while a laptop computer and IMUs allowed the use of the method outside the motion laboratory.

Force-velocity profiling in ice hockey skating: reliability and validity of a simple, low-cost field method.

In recent years, a simple method for force-velocity (F-v) profiling, based on split times, has emerged as a potential tool to examine mechanical variables underlying running sprint performance in field conditions. In this study, the reliability and concurrent validity of F-v profiling based on split times were examined when used for ice hockey skating. It was also tested how a modification of the method, in which the start instant of the sprint is estimated based on optimisation (time shift method), affects the reliability and validity of the method. Both intra- and inter-rater reliability were markedly improved when using the time shift method (approximately 50% decrease in the standard error of measurement). Moreover, the results calculated using the time shift method highly correlated (r > 0.83 for all variables) with the results calculated from a continuously tracked movement of the athlete, which was considered here as the reference method. This study shows that a modification to the previously published simple method for F-v profiling improves intra- and inter-rater reliability of the method in ice hockey skating. The time shift method tested here can be used as a reliable tool to test a player's physical performance characteristic underlying sprint performance in ice hockey skating.

Alterations in the Functional Knee Alignment Are Not an Effective Strategy to Modify the Mediolateral Distribution of Knee Forces During Closed Kinetic Chain Exercises.

Pain felt while performing rehabilitation exercises could be a reason for the low adherence of knee osteoarthritis patients to physical rehabilitation. Reducing compressive forces on the most affected knee regions may help to mitigate the pain. Knee frontal plane positioning with respect to pelvis and foot (functional knee alignment) has been shown to modify the mediolateral distribution of the tibiofemoral joint contact force in walking. Hence, different functional knee alignments could be potentially used to modify joint loading during rehabilitation exercises. The aim was to understand whether utilizing different alignments is an effective strategy to unload specific knee areas while performing rehabilitation exercises. Eight healthy volunteers performed 5 exercises with neutral, medial, and lateral knee alignment. A musculoskeletal model was modified for improved prediction of tibiofemoral contact forces and used to evaluate knee joint kinematics, moments, and contact forces. Functional knee alignment had only a small and inconsistent effect on the mediolateral distribution joint contact force. Moreover, the magnitude of tibiofemoral and patellofemoral contact forces, knee moments, and measured muscle activities was not significantly affected by the alignment. Our results suggest that altering the functional knee alignment is not an effective strategy to unload specific knee regions in physical rehabilitation.

An EMG-Assisted Muscle-Force Driven Finite Element Analysis Pipeline to Investigate Joint- and Tissue-Level Mechanical Responses in Functional Activities: Towards a Rapid Assessment Toolbox.

Joint tissue mechanics (e.g., stress and strain) are believed to have a major involvement in the onset and progression of musculoskeletal disorders, e.g., knee osteoarthritis (KOA). Accordingly, considerable efforts have been made to develop musculoskeletal finite element (MS-FE) models to estimate highly detailed tissue mechanics that predict cartilage degeneration. However, creating such models is time-consuming and requires advanced expertise. This limits these complex, yet promising, MS-FE models to research applications with few participants and makes the models impractical for clinical assessments. Also, these previously developed MS-FE models have not been used to assess activities other than gait. This study introduces and verifies a semi-automated rapid state-of-the-art MS-FE modeling and simulation toolbox incorporating an electromyography- (EMG) assisted MS model and a muscle-force driven FE model of the knee with fibril-reinforced poro(visco)elastic cartilages and menisci. To showcase the usability of the pipeline, we estimated joint- and tissue-level knee mechanics in 15 KOA individuals performing different daily activities. The pipeline was verified by comparing the estimated muscle activations and joint mechanics to existing experimental data. To determine the importance of the EMG-assisted MS analysis approach, results were compared to those from the same FE models but driven by static-optimization-based MS models. The EMG-assisted MS-FE pipeline bore a closer resemblance to experiments compared to the static-optimization-based MS-FE pipeline. Importantly, the developed pipeline showed great potential as a rapid MS-FE analysis toolbox to investigate multiscale knee mechanics during different activities of individuals with KOA.

Toward Tailored Rehabilitation by Implementation of a Novel Musculoskeletal Finite Element Analysis Pipeline.

Tissue-level mechanics (e.g., stress and strain) are important factors governing tissue remodeling and development of knee osteoarthritis (KOA), and hence, the success of physical rehabilitation. To date, no clinically feasible analysis toolbox has been introduced and used to inform clinical decision making with subject-specific in-depth joint mechanics of different activities. Herein, we utilized a rapid state-of-the-art electromyography-assisted musculoskeletal finite element analysis toolbox with fibril-reinforced poro(visco)elastic cartilages and menisci to investigate knee mechanics in different activities. Tissue mechanical responses, believed to govern collagen damage, cell death, and fixed charge density loss of proteoglycans, were characterized within 15 patients with KOA while various daily activities and rehabilitation exercises were performed. Results showed more inter-participant variation in joint mechanics during rehabilitation exercises compared to daily activities. Accordingly, the devised workflow may be used for designing subject-specific rehabilitation protocols. Further, results showed the potential to tailor rehabilitation exercises, or assess capacity for daily activity modifications, to optimally load knee tissue, especially when mechanically-induced cartilage degeneration and adaptation are of interest.

Lower limb muscle activation patterns in ice-hockey skating and associations with skating speed.

In this study, we aimed to describe lower limb kinematic and muscle activation patterns and then to examine the potential associations between those variables and skating speed in highly trained ice-hockey players. Twelve players (age 18.4-22.0 years) performed five maximal 30-metre forward skating sprints. Skating speeds, muscle activities from eight lower limb muscles (gluteus maximus, gluteus medius, adductor magnus, rectus femoris, vastus lateralis, biceps femoris, tibialis anterior and soleus), and sagittal plane joint angles from the hip and knee joint were measured. A lower activity of the gluteus maximus (r = -0.651, p = 0.022, ß = -0.08) and a reduced gluteus maximus to rectus femoris coactivity (r = -0.786, p = 0.002, ß = -3.26) during the recovery phase were found to be associated with faster skating speed. No significant associations were observed between sagittal plane hip and knee kinematics and skating speed. This study provides evidence that muscle activities during the recovery phase of skating may have an important role in skating performance.

A Perturbed Postural Balance Test Using an Instrumented Treadmill - Precision and Accuracy of Belt Movement and Test-Retest Reliability of Balance Measures.

A perturbed postural balance test can be used to investigate balance control under mechanical disturbances. The test is typically performed using purpose-built movable force plates. As instrumented treadmills become increasingly common in biomechanics laboratories and in clinical settings, these devices could be potentially used to assess and train balance control. The purpose of the study was to investigate how an instrumented treadmill applies to perturbed postural balance test. This was investigated by assessing the precision and reliability of the treadmill belt movement and the test-retest reliability of perturbed postural balance test over 5 days. Postural balance variables were calculated from the center of pressure trajectory and included peak displacement, time to peak displacement, and recovery displacement. Additionally, the study investigated short-term learning effects over the 5 days. Eight healthy participants (aged 24-43 years) were assessed for 5 consecutive days with four different perturbation protocols. Center of pressure (COP) data were collected using the force plates of the treadmill while participant and belt movements were measured with an optical motion capture system. The results show that the treadmill can reliably deliver the intended perturbations with <1% deviation in total displacement and with minimal variability between days and participants (typical errors 0.06-2.71%). However, the treadmill was not able to reach the programmed 4 m/s2 acceleration, reaching only about 75% of it. Test-retest reliability of the selected postural balance variables ranged from poor to good (ICC 0.156-0.752) with typical errors between 4.3 and 28.2%. Learning effects were detected based on linear or quadratic trends (p < 0.05) in peak displacement of the slow forward and fast backward protocols and in time to peak displacement in slow and fast backward protocols. The participants altered the initial location of the COP relative to the foot depending on the direction of the perturbation. In conclusion, the precision and accuracy of belt movement were found to be excellent. Test-retest reliability of the balance test utilizing an instrumented treadmill ranged from poor to good which is, in line with previous investigations using purpose-built devices for perturbed postural balance assessment.

Evaluation of the Effect of Bariatric Surgery-Induced Weight Loss on Knee Gait and Cartilage Degeneration.

The objective of the study was to investigate the effects of bariatric surgery-induced weight loss on knee gait and cartilage degeneration in osteoarthritis (OA) by combining magnetic resonance imaging (MRI), gait analysis, finite element (FE) modeling, and cartilage degeneration algorithm. Gait analyses were performed for obese subjects before and one-year after the bariatric surgery. FE models were created before and after weight loss for those subjects who did not have severe tibio-femoral knee cartilage loss. Knee cartilage degenerations were predicted using an adaptive cartilage degeneration algorithm which is based on cumulative overloading of cartilage, leading to iteratively altered cartilage properties during OA. The average weight loss was 25.7±11.0 kg corresponding to a 9.2±3.9 kg/m2 decrease in body mass index (BMI). External knee rotation moment increased, and minimum knee flexion angle decreased significantly (p < 0.05) after weight loss. Moreover, weight loss decreased maximum cartilage degeneration by 5±23% and 13±11% on the medial and lateral tibial cartilage surfaces, respectively. Average degenerated volumes in the medial and lateral tibial cartilage decreased by 3±31% and 7±32%, respectively, after weight loss. However, increased degeneration levels could also be observed due to altered knee kinetics. The present results suggest that moderate weight loss changes knee kinetics and kinematics and can slow-down cartilage degeneration for certain patients. Simulation results also suggest that prediction of cartilage degeneration is subject-specific and highly depend on the altered gait loading, not just the patient's weight.

Effects of mop handle height on shoulder muscle activity and perceived exertion during floor mopping using a figure eight method.

The aim of this study was to investigate effects of mop handle height on electromyographic (EMG) activities of the shoulder muscles and perceived exertion for the shoulder area during floor mopping using a figure eight method. An experimental study with 13 cleaners was conducted using surface EMG and category ratio (CR-10) scale. EMG activity was recorded unilaterally from the upper trapezius, infraspinatus, anterior and middle deltoid muscles. Each subject performed four trials of mopping and each trial consisted of using a different mop handle height (mop adjustment at the level of shoulder, chin, nose and eye) in randomized order. EMG data were normalized to a percentage of maximal voluntary contraction (%MVC). The muscle activities were assessed by estimating the 10th, 50th and 90th percentiles of the amplitude probability distribution function (APDF) of the EMG signals and analysed by linear mixed model analysis. Results showed that shoulder muscle activity was significantly lower when the mop handle height was adjusted to shoulder level or chin level as compared to eye level. These findings were supported by subjective ratings of exertion. It seems that mop handle height adjustment between shoulder and chin level may be recommended as a basis for figure eight mopping.

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.