Estimation of Ground Reaction Forces during Sports Movements by Sensor Fusion from Inertial Measurement Units with 3D Forward Dynamics Model.

Rotational jumps are crucial techniques in sports competitions. Estimating ground reaction forces (GRFs), a constituting component of jumps, through a biomechanical model-based approach allows for analysis, even in environments where force plates or machine learning training data would be impossible. In this study, rotational jump movements involving twists on land were measured using inertial measurement units (IMUs), and GRFs and body loads were estimated using a 3D forward dynamics model. Our forward dynamics and optimization calculation-based estimation method generated and optimized body movements using cost functions defined by motion measurements and internal body loads. To reduce the influence of dynamic acceleration in the optimization calculation, we estimated the 3D orientation using sensor fusion, comprising acceleration and angular velocity data from IMUs and an extended Kalman filter. As a result, by generating cost function-based movements, we could calculate biomechanically valid GRFs while following the measured movements, even if not all joints were covered by IMUs. The estimation approach we developed in this study allows for measurement condition- or training data-independent 3D motion analysis.

Multibody Model with Foot-Deformation Approach for Estimating Ground Reaction Forces and Moments and Joint Torques during Level Walking through Optical Motion Capture without Optimization Techniques.

The biomechanical-model-based approach with a contact model offers advantages in estimating ground reaction forces (GRFs) and ground reaction moments (GRMs), as it does not rely on the need for training data and gait assumptions. However, this approach faces the challenge of long computational times due to the inclusion of optimization processes. To address this challenge, the present study developed a new optical motion capture (OMC)-based method to estimate GRFs, GRMs, and joint torques without prolonged computational times. The proposed approach performs the estimation process by distributing external forces, as determined by a multibody model, between the left and right feet based on foot deformations, thereby predicting the GRFs and GRMs without relying on optimization techniques. In this study, prediction accuracies during level walking were confirmed by comparing a general analysis using a force plate with the estimation results. The comparison revealed excellent or strong correlations between the prediction and the measurements for all GRFs, GRMs, and lower-limb-joint torques. The proposed method, which provides practical estimation with low computational cost, facilitates efficient biomechanical analysis and rapid feedback of analysis results, contributing to its increased applicability in clinical settings.

Simulation of Human Movement in Zero Gravity.

In the era of expanding manned space missions, understanding the biomechanical impacts of zero gravity on human movement is pivotal. This study introduces a novel and cost-effective framework that demonstrates the application of Microsoft's Azure Kinect body tracking technology as a motion input generator for subsequent OpenSim simulations in weightlessness. Testing rotations, locomotion, coordination, and martial arts movements, we validate the results' realism under the constraints of angular and linear momentum conservation. While complex, full-body coordination tasks face limitations in a zero gravity environment, our findings suggest possible approaches to device-free exercise routines for astronauts and reveal insights into the feasibility of hand-to-hand combat in space. However, some challenges remain in distinguishing zero gravity effects in the simulations from discrepancies in the captured motion input or forward dynamics calculations, making a comprehensive validation difficult. The paper concludes by highlighting the framework's practical potential for the future of space mission planning and related research endeavors, while also providing recommendations for further refinement.

A powered simple walking model explains the decline in propulsive force and hip flexion torque compensation in human gait.

Excessive hip flexion torque to prioritize leg swings in the elderly is likely to be a factor that reduces their propulsive force and gait stability, but the mechanism is not clear. To understand the mechanism, we investigated how propulsive force, hip flexion torque, and margin of stability (MoS) change when only the hip spring stiffness is increased without changing the walking speed in the simple walking model, and verified whether the relationship holds in human walking. The results showed that at walking speeds between 0.50 and 1.75 m/s, increasing hip spring stiffness increased hip flexion torque and decreased the propulsive force and MoS in both the model and human walking. Furthermore, it was found that the increase in hip flexion torque was explained by the increase in spring stiffness, and the decreases in the propulsive force and MoS were explained by the increase in step frequency associated with the increase in spring stiffness. Therefore, the increase in hip flexion torque likely decreased the propulsive force and MoS, and this mechanism was explained by the intervening hip spring stiffness. Our findings may help in the control design of walking assistance devices, and in improving our understanding of elderly walking strategies.

Computational prediction of muscle synergy using a finite element framework for a musculoskeletal model on lower limb.

Previous studies have demonstrated that the central nervous system activates muscles in module patterns to reduce the complexity needed to control each muscle while producing a movement, which is referred to as muscle synergy. In previous musculoskeletal modeling-based muscle synergy analysis studies, as a result of simplification of the joints, a conventional rigid-body link musculoskeletal model failed to represent the physiological interactions of muscle activation and joint kinematics. However, the interaction between the muscle level and joint level that exists in vivo is an important relationship that influences the biomechanics and neurophysiology of the musculoskeletal system. In the present, a lower limb musculoskeletal model coupling a detailed representation of a joint including complex contact behavior and material representations was used for muscle synergy analysis using a decomposition method of non-negative matrix factorization (NMF). The complexity of the representation of a joint in a musculoskeletal system allows for the investigation of the physiological interactions in vivo on the musculoskeletal system, thereby facilitating the decomposition of the muscle synergy. Results indicated that, the activities of the 20 muscles on the lower limb during the stance phase of gait could be controlled by three muscle synergies, and total variance accounted for by synergies was 86.42%. The characterization of muscle synergy and musculoskeletal biomechanics is consistent with the results, thus explaining the formational mechanism of lower limb motions during gait through the reduction of the dimensions of control issues by muscle synergy and the central nervous system.

Mild-intensity running exercise recovered motor function by improvement of ankle mobility after unilateral brain injury of mice using three-dimensional kinematic analysis techniques.

Motor dysfunction, such as gait impairment, is a major disability induced by traumatic brain injury or stroke. Treadmill running is often used as a physical exercise (Ex) clinically and experimentally for the recovery of patients. In animal experiments, although dynamic behavioral deficits can be evaluated using scoring systems, local and minor behaviors are difficult to determine. This study aims to evaluate motor dysfunction and recovery after brain damage (BD) with/without mild-intensity running Ex in mice using three-dimensional (3D) kinematic analysis. To determine exercise intensity, C57/BL6-strain male young adult mice were examined in an incremental running test while the pulmonary gas exchange of O2 and CO2 were measured. The animals were then subjected to left hemidecortication as BD, and some mice performed Ex (10 m/min for 30 min 5 times/wk) for 4 weeks. The BD with Ex and BD or sham-operated mice (sham) without (w/o) Ex had their gait recorded by four synchronized cameras, and gait was evaluated via 3D-kinematic analysis. The BD w/o Ex mice significantly differed in stride, step, and stride width for both limbs compared to the sham w/o Ex mice. The BD with Ex mice showed improvement. The BD w/o Ex mice had restricted ankle movements and impairment in dorsal/planter flexing using trajectory analysis. Consistent with these impairments, the nonaffected side also exhibited a different trajectory, suggesting compensatory movements. These results suggest that the appropriate Ex after BD recovered motor function. Furthermore, the present study suggested that 3D-kinematic analysis is a powerful tool for detecting minor behavioral alterations owing to the impairment of the affected side and the compensation of the unaffected side.

Biomechanical effects of medial meniscus radial tears on the knee joint during gait: A concurrent finite element musculoskeletal framework investigation.

The biomechanical variation in the knee during walking that accompanies medial meniscal radial tears stemming from knee osteoarthritis (OA) has not been explored. This study introduced a finite element musculoskeletal model using concurrent lower limb musculoskeletal dynamics and knee joint finite element analysis in a single framework and expanded the models to include knees with medial meniscal radial tears and total medial meniscectomy. The radial tears involved three locations: anterior horn, midbody, and posterior horn with grades of 33%, 50%, and 83% of the meniscus width. The shear and hoop stresses of the tear meniscus and tibial cartilage contact load, accompanying tears, and postmeniscectomy were evaluated during the stance phase of the gait cycle using the models. In the 83% width midbody tear group, shear stress at the end of the tear was significantly greater than in the intact meniscus and other tear groups, and the maximum shear stress was increased by 310% compared to the intact meniscus. A medial meniscus radial tear has a much smaller effect on the tibial cartilage load (even though in the 83% width tear, the cartilage/total load ratio increased by only 9%). However, the contact force on the tibial cartilage with total postmeniscectomy was increased by 178.93% compared with a healthy intact meniscus, and the peak contact pressure after meniscectomy increased from 11.94 to 12.45 MPa to 17.64 and 13.76 MPa, at the maximum weight acceptance and push-off, respectively. Our study shows that radial tears with larger medial meniscus widths are prone to high stress concentrations at the end of the tears, leading to the potential risk of complete meniscal rupture. Furthermore, although the tears did not change the cartilage load distribution, they disrupted the circumferential stress-transmitting function of the meniscus, thus greatly increasing the likelihood of the onset of knee OA. The significant increase in the tibial cartilage load with total postmeniscectomy indicates a potential risk of OA flare-ups. This study contributes to a better understanding of meniscal tear-induced OA biomechanical changes during human activities and offers some potential directions for surgical guidance of meniscectomies and the prophylaxis and treatment of OA.

Estimation of Steering and Throttle Angles of a Motorized Mobility Scooter with Inertial Measurement Units for Continuous Quantification of Driving Operation.

With the growing demand from elderly persons for alternative mobility solutions, motorized mobility scooters (MMSs) have been gaining importance as an essential assistive technology to aid independent living in local communities. The increased use of MMSs, however, has raised safety issues during driving and magnified the necessity to evaluate and improve user driving skills. This study is intended to develop a novel quantitative monitoring method for MMS driving operation using inertial measurement units (IMUs). The proposed method used coordinate transformations around the rotational axes of the steering wheel and the throttle lever to estimate the steering and throttle operating angles based on gravitational accelerations measured by IMUs. Consequently, these operating angles can be monitored simply using an IMU attached to the throttle lever. Validation experiments with a test MMS in the stationary state confirmed the consistency of the proposed coordinate transformation with the MMS's geometrical structure. The driving test also demonstrated that the operating angles were estimated correctly on various terrains and that the effects of terrain inclination were compensated using an additional IMU attached to the scooter body. This method will be applicable to the quantitative monitoring of driving behavior and act as a complementary tool for the existing skills' evaluation methods.

Investigation of the relationship between steps required to stop and propulsive force using simple walking models.

To prevent falls in the elderly, it is essential to evaluate their gait stability and identify factors that negatively affect it. Although one of the probable factors is a decrease in propulsive force of walking, the relationship between the force and the gait stability has not been fully clarified. To this end, two simple walking models were used to investigate the relationship between the propulsive force and the number of steps required to stop, denoted N. N was calculated as the number of steps required for the rimless wheel to stop and was treated as a variable which is an indirect indicator of stability. A lower N corresponds to the gait being closer to a stopped state. The propulsive force was calculated using the push-off impulse applied to the simplest walking model during the step-to-step transition. To account for the effects of the double support phase in human walking, the gravitational impulse, which is the integral of the body weight (gravitational force) over the double support time, was applied to the step-to-step transition equation of the models. The models revealed that the propulsive force is reduced by two factors: the reduction in step length and the reduction in walking speed. In the former, N increases; in the latter, N decreases. The former is consistent with previous experimental results on human gait, whereas the latter has not been experimentally investigated. These results may provide important insights in clarifying the relationship between the stability and the propulsive force in human gait.

A Computationally Efficient Lower Limb Finite Element Musculoskeletal Framework Directly Driven Solely by Inertial Measurement Unit Sensors.

Finite element musculoskeletal (FEMS) approaches using concurrent musculoskeletal (MS) and finite element (FE) models driven by motion data such as marker-based motion trajectory can provide insight into the interactions between the knee joint secondary kinematics, contact mechanics, and muscle forces in subject-specific biomechanical investigations. However, these data-driven FEMS systems have two major disadvantages that make them challenging to apply in clinical environments: they are computationally expensive and they require expensive and inconvenient equipment for data acquisition. In this study, we developed an FEMS model of the lower limb, driven solely by inertial measurement unit (IMU) sensors, that includes the tissue geometries of the intact knee joint and combines muscle modeling and elastic foundation (EF) theory-based contact analysis of a knee into a single framework. The model requires only the angular velocities and accelerations measured by the sensors as input, and the target outputs (knee contact mechanics, secondary kinematics, and muscle forces) are predicted from the convergence results of iterative calculations of muscle force optimization and knee contact mechanics. To evaluate its accuracy, the model was compared with in vivo experimental data during gait. The maximum contact pressure (12.6 MPa) in the rigid body contact analysis occurred on the medial side of the cartilage at the maximum loading response. The proposed computationally efficient framework drastically reduced the computational time (97.5% reduction) in comparison with the conventional deformable FE analysis. The developed framework combines measurement convenience and computational efficiency and shows promise for clinical applications aimed at understanding subject-specific interactions between the knee joint secondary kinematics, contact mechanics, and muscle forces.

Post-processing algorithm for removing soft-tissue movement artifacts from vibroarthrographic knee-joint signal.

Vibroarthrographic (VAG) signals are sounds or vibrations caused when a knee joint is flexed or stretched. VAG signal collection is noninvasive and can be performed using an accelerometer or microphone attached to the skin. However, the sensor attached to the skin will move with the soft tissue caused by flexion and extension, causing the baseline of the VAG signal to drift. We call these interferences soft tissue movement artifacts (STMAs). In this study, an algorithm is proposed to filter out STMAs. We compare the proposed method's results with noises collected by an accelerometer. The noise reduction effect is evaluated, revealing an 11.85% increase in the peak signal-to-noise ratio and a 28.18% increase in signal-to-noise ratio compared with the case in which STMA noise was not removed.Clinical Relevance-This study focuses on a proposed post-processing method that can remove soft tissue movement artifacts that cause baseline wander and could thus improve the accuracy of clinical applications of VAG signals.

Preliminary study of optimal measurement location on vibroarthrography for classification of patients with knee osteoarthritis.

[Purpose] The aims of the present study were to investigate the most suitable location for vibroarthrography measurements of the knee joint to distinguish a healthy knee from knee osteoarthritis using Wavelet transform analysis. [Subjects and Methods] Participants were 16 healthy females and 17 females with severe knee osteoarthritis. Vibroarthrography signals were measured on the medial and lateral epicondyles, mid-patella, and tibia using stethoscopes with a microphone while subjects stood up from a seated position. Frequency and knee flexion angles at the peak wavelet coefficient were obtained. [Results] Peak wavelet coefficients at the lateral condyle and tibia were significantly higher in patients with knee osteoarthritis than in the control group. Knee joint angles at the peak wavelet coefficient were smaller (more extension) in the osteoarthritis group compared to the control group. The area under the receiver operating characteristic curve on tibia assessment with the frequency and knee flexion angles was higher than at the other measurement locations (both area under the curve: 0.86). [Conclusion] The tibia is the most suitable location for classifying knee osteoarthritis based on vibroarthrography signals.

Simulation model of a lever-propelled wheelchair.

Wheelchair efficiency depends significantly on the individual adjustment of the wheelchair propulsion interface. Wheelchair prescription involves reconfiguring the wheelchair to optimize it for specific user characteristics. Wheelchair tuning procedure is a complicated task that is performed usually by experienced rehabilitation engineers. In this study, we report initial results from the development of a musculoskeletal model of the wheelchair lever propulsion. Such a model could be used for the development of new advanced wheelchair approaches that allow wheelchair designers and practitioners to explore virtually, on a computer, the effects of the intended settings of the lever-propulsion interface. To investigate the lever-propulsion process, we carried out wheelchair lever propulsion experiments where joint angle, lever angle and three-directional forces and moments applied to the lever were recorded during the execution of defined propulsion motions. Kinematic and dynamic features of lever propulsion motions were extracted from the recorded data to be used for the model development. Five healthy male adults took part in these initial experiments. The analysis of the collected kinematic and dynamic motion parameters showed that lever propulsion is realized by a cyclical three-dimensional motion of upper extremities and that joint torque for propulsion is maintained within a certain range. The synthesized propulsion model was verified by computer simulation where the measured lever-angles were compared with the angles generated by the developed model simulation. Joint torque amplitudes were used to impose the torque limitation to the model joints. The results evidenced that the developed model can simulate successfully basic lever propulsion tasks such as pushing and pulling the lever.

Robust control of CPG-based 3D neuromusculoskeletal walking model.

This paper proposes a method for enhancing the robustness of the central pattern generator (CPG)-based three-dimensional (3D) neuromusculoskeletal walking controller. The CPG has been successfully applied to walking controllers and controllers for walking robots. However, the robustness of walking motion with the CPG-based controller is not sufficient, especially when subjected to external forces or environmental variations. To achieve a realistic and stable walking motion of the controller, we propose the use of an attracting controller in parallel with the CPG-based controller. The robustness of the proposed controller is confirmed through simulation results.

State estimation of walking phase and functional electrical stimulation by wearable device.

Functional electrical stimulation (FES) is useful to improve the gait of patients with peroneal nerve palsy or spastic hemiparesis after stroke. So as to apply FES to such patients, we have to have estimators for detecting the timing of phase switching in walking motion. We designed a wearable device for state estimating of walking and functional electrical stimulation. We consider the implementation of artificial neural network (ANN) into the device, and propose a method for supervised learning of the ANN. Two experiments have been conducted to show the effectiveness of the wearable device. The accuracy of estimating the timing for FES is good enough for the practical application.

Design of lower limb prosthesis with contact pressure adjustment by MR fluid.

This paper reports on the development of a new lower limb prosthesis that can change its volume and hardness based on the users requirements. The size and viscosity of several Magneto-Rheological fluid filled bags, fixed on the inner side of the socket is changed, in order to vary the socket properties. TSB (total surface bearing) sockets have been most selling ones during these two decades. From the user's point of view, it is excellent in this type of sockets that the weight of user is supported with the entire socket surface. However, it is impossible to cope with the volume change of the user's stump. Experimental results show that the performance of the developed MR socket is better than the conventional TSB sockets because the MR socket is controllable in the size and viscosity.

Relationship between adaptation of motor control and cognition of environmental dynamics.

This paper considers the analysis of dynamics of human operators when the environmental dynamics changes. When an operator conducts a task with his arm, the adaptation on his manipulating dynamics occurs according to the dynamics of environment. We assume that the adaptation has a certain relation to the cognition of the change of environmental dynamics. To confirm the assumption, we have planned the experiment in which subjects are required to perform several kinds of tracking tasks. It is shown in the experiment that the dynamics of manipulation correlates with the cognition of the change of environmental dynamics.

Hybrid control of powered orthosis and functional neuromuscular stimulation for restoring gait.

The restoration of motor functions of patients with spinal cord injury (SCI) is one of important subjects for study. For this purpose, methods of functional neuromuscular stimulation (FNS) have been investigated in medical science and practice during these three decades. However, we have not achieved complete restoration of motor functions in SCI patients. On the other hand, we have achieved useful devices in human-scaled transportation by using power assist technology. Thus, applying power assist technology to the problem of restoring motor functions is one of possible solutions and sounds practical. In this paper, we propose a new hybrid system to combine power assist technology and FNS for restoring motor functions of lower extremity in SCI patients. Both powered orthosis and FNS are used to generate and control the joints moments of lower extremity in the proposed hybrid system. The main role of powered orthosis to compensate the joints moments generated by FNS and to enhance the controllability of FNS with the actuators. The proposed hybrid control system has been experimentally evaluated in gait motions by measuring the angle trajectories and generated moments around the knee and hip joints in the cases when only actuators are used and both FNS and actuators of the orthosis are used. The results prove that the control method for the hybrid system is useful to restore motor functions of lower extremity in SCI patients.

Can functional electric stimulation-assisted rowing reproduce a race-winning rowing stroke?

OBJECTIVE: To compare the ergometer rowing technique of a person with spinal cord injury (SCI), using functional electric stimulation (FES) of his leg muscles, with that of a well-defined group of able-bodied rowers. DESIGN: Whole-body kinematics and kinetics and electric activity of selected muscles were measured during ergometer rowing. SETTING: A hospital-based motion analysis laboratory. PARTICIPANTS: Five male university varsity-level rowers and 1 male rower with SCI. INTERVENTIONS: Eight rowing trials were collected on the university-level rowers, 2 trials each at 20, 24, 28, and 32 strokes/min. The rower with SCI had surface electrodes applied to his medial hamstrings and medial quadriceps muscle bellies. The electrodes were attached to a stimulator that was activated using a button in the ergometer handle. The subject with SCI rowed at a self-selected stroke rate. MAIN OUTCOME MEASURES: Forces at the ergometer handle and foot cradle, 3-dimensional whole-body kinematics, net joint moments, and phasic activity of muscles. RESULTS: Motion of the arms, ankles, and knees of the rower with SCI was similar to those of the university-level rowers; other joint motions and forces applied to the ergometer differed. CONCLUSIONS: FES-assisted rowing in its current implementation cannot reproduce a race-winning rowing stroke. Further development work is required.