simMACT, a Software Demonstrator to Improve Maximum Actuation Joint Torques Simulation for Ergonomics Assessment.

The maximum actuation joint torques that operators can perform at the workplace are essential parameters for biomechanical risk assessment. However, workstation designers generally only have at their disposal the imprecise and sparse estimates of these quantities provided with digital manikin digital human model (DHM) software. For instance, such tools consider only static postures and ignore important specificities of the human musculoskeletal system such as interjoints couplings. To alleviate the weaknesses of existing approaches implemented in digital human modeling tools relying on torque databases, this paper describes a methodology based on a class of polytopes called zonotopes and musculoskeletal simulation to assess maximum actuation torques. It has two main advantages, the ability to estimate maximum joint torques for any posture and taking into account musculoskeletal specificities unlike existing digital human modeling tools. As a case study, it also compares simulated maximum actuation torques to those recorded during an experiment described in the literature, focusing on an isometric task of the upper limb. This simulation has led to similar or smaller errors than DHM software tools. Hence, this methodology may help in interpreting interjoint couplings, choosing appropriate mathematical models or design experimental protocols. It may also be implemented in DHM software to provide designers with more comprehensive and more reliable data.

Maximal isometric force exertion predicted by the force feasible set formalism: application to handbraking.

The aim of this study was to test the capacity of the force feasible set formalism to predict maximal force exertion during isometric handbraking. Maximal force exertion and upper-limb posture were measured with a force sensor embedded in a handbrake and an optoelectronic system, respectively. Eleven subjects participated in the experiment which consisted of exerting the maximal force in isometric conditions considering five hand brake positions relative to the seat H-point. Then, maximal force was predicted by the force feasible set obtained from an upper-limb musculoskeletal model. The root-mean-square (RMS) of the angle between measured and predicted forces was 8.4° while the RMS error (RMSE) for amplitude prediction was 95.4 N. However, predicted, and measured force amplitudes were highly correlated (r = 0.88, p < 0.05, slope = 0.97, intercept = 73.3N) attesting the capacity of the model to predict force exertion according to the subject's posture. The implications in the framework of ergonomics are then discussed. Practitioner summary: Maximal force exertion is of paramount importance in digital human modelling. We used the force feasible set formalism to predict maximal force exertion during handbraking from posture and anthropometric data. The predicted and measured force orientation showed a RMS of 8.4° while amplitude presented a RMSE of 95.4 N with a strong correlation (r = 0.88, p < 0.05, slope 0.97, intercept 77.3 N).

The impact of Nordic walking training on the gait of the elderly.

The purpose of the current study was to define the impact of regular practice of Nordic walking on the gait of the elderly. Thereby, we aimed to determine whether the gait characteristics of active elderly persons practicing Nordic walking are more similar to healthy adults than that of the sedentary elderly. Comparison was made based on parameters computed from three inertial sensors during walking at a freely chosen velocity. Results showed differences in gait pattern in terms of the amplitude computed from acceleration and angular velocity at the lumbar region (root mean square), the distribution (Skewness) quantified from the vertical and Euclidean norm of the lumbar acceleration, the complexity (Sample Entropy) of the mediolateral component of lumbar angular velocity and the Euclidean norm of the shank acceleration and angular velocity, the regularity of the lower limbs, the spatiotemporal parameters and the variability (standard deviation) of stance and stride durations. These findings reveal that the pattern of active elderly differs significantly from sedentary elderly of the same age while similarity was observed between the active elderly and healthy adults. These results advance that regular physical activity such as Nordic walking may counteract the deterioration of gait quality that occurs with aging.

Sequence-dependent rotation axis changes and interaction torque use in overarm throwing.

We examined the role of rotation axes during an overarm throwing task. Participants performed such task and were asked to throw a ball at maximal velocity at a target. The purpose of this study was to examine whether the minimum inertia axis would be exploited during the throwing phases, a time when internal-external rotations of the shoulder are particularly important. A motion capture system was used to evaluate the performance and to compute the potential axes of rotation (minimum inertia axis, shoulder-centre of mass axis and the shoulder-elbow axis). More specifically, we investigated whether a velocity-dependent change in rotational axes can be observed in the different throwing phases and whether the control obeys the principle of minimum inertia resistance. Our results showed that the limbs' rotational axis mainly coincides with the minimum inertia axis during the cocking phase and with the shoulder-elbow axis during the acceleration phase. Besides these rotation axes changes, the use of interaction torque is also sequence-dependent. The sequence-dependent rotation axes changes associated with the use of interaction torque during the acceleration phase could be a key factor in the production of hand velocity at ball release.

Differences in the Control of Unconstrained Three-Dimensional Arm Motions of the Dominant and the Nondominant Arm.

For the dominant limb, a velocity-dependent change in rotational axes during the kinesthetic control of unconstrained 3D arm rotations was reported, and thus the question arises if this can be reproduced for the nondominant arm. The rotation axes considered are the axes of minimum inertia (e3), the shoulder-center of mass axis (SH-CM), and the shoulder-elbow axis (SH-EL). The objective of this study was to examine whether the minimum inertia axis would constrain internal-external rotations of the shoulder at fast velocity. Participants performed cyclic rotations of their arms in 2 sensory conditions and at 2 velocities. The elbow configurations were either set to 90° or 140° to yield a constant separation between e3, SH-CM, and SH-EL. Our results showed that the limb's rotational axis coincide with the SH-EL axis across velocity conditions, although higher variability was seen at higher velocity. This was true for both the dominant and the nondominant arm. Together, the results showed that cognitive instruction prevented a velocity-dependent rotation axis change toward e3 and/or SH-CM, as proposed in the minimum inertia principle.

A new postural force production index to assess propulsion effectiveness during handcycling.

The aim of this study was to propose a new index called Postural Force Production Index (PFPI) for evaluating the force production during handcycling. For a given posture, it assesses the force generation capacity in all Cartesian directions by linking the joint configuration to the effective force applied on the handgrips. Its purpose is to give insight into the force pattern of handcycling users, and could be used as ergonomic index. The PFPI is based on the force ellipsoid, which belongs to the class of manipulability indices and represents the overall force production capabilities at the hand in all Cartesian directions from unit joint torques. The kinematics and kinetics of the arm were recorded during a 1-min exercise test on a handcycle at 70 revolutions per minute performed by one paraplegic expert in handcycling. The PFPI values were compared with the Fraction Effective Force (FEF), which is classically associated with the effectiveness of force application. The results showed a correspondence in the propulsion cycle between FEF peaks and the most favorable postures to produce a force tangential to the crank rotation (PFPI). This preliminary study opens a promising way to study patterns of force production in the framework of handcycling movement analysis.

The manipulability: a new index for quantifying movement capacities of upper extremity.

In this work, it is proposed to evaluate the upper-limb movements through a global index of performance borrowed from the field of robotics: the manipulability. For a given posture, this index quantifies the set of velocities that can be achieved at the wrist in all the Cartesian directions. The manipulability can be represented by an ellipsoid from which the volume and shape related parameters can be derived. During a reach to grasp movement, the ellipsoid obtained from experiment presented a flattened shape along the forearm longitudinal axis and an increased volume as the arm was extended. From this study, it is concluded that: (1) the ellipsoid volume reflects well the ability to generate speed at the wrist which is effectively maximal for an extended posture; (2) if maximal velocity is an important parameter it might be advisable to primarily move the hand perpendicularly to the forearm longitudinal axis. PRACTITIONER SUMMARY: The interest of manipulability indices is that they evaluate globally a posture of the upper-limb in relation to a given task. This original parameter could help to design environments or devices in order that the adopted postures maximise one particular aspect of the performance, i.e. the velocity of the hand.

Do individual characteristics influence the beta-elliptic modeling errors during ellipse drawing movements?

This paper investigates whether age, gender, and degree of familiarity with writing have an influence on the Beta-elliptic model errors during hand-drawing on a graphical tablet. A database of elliptical hand drawing movements was built within a sample of 99 participants aged between 19 and 85 years. Using the Beta-elliptic model, the velocity profile was modeled by overlapped Beta functions and the drawing trajectory was segmented between velocity extrema and each segment geometry was modeled by elliptic arcs. Average absolute and relative geometric, curvature and curvilinear velocity errors were 0.27 mm, 0.68%, 4.54 mm, 0.48%, 4.68 mm/s, and 8.79% respectively. Statistical analyses revealed not significant or low correlation between modeling errors and age and movement velocity, and no significant or low error differences according to gender or degree of familiarity with writing.

Comparison between joystick- and gaze-controlled electric wheelchair during narrow doorway crossing: Feasibility study and movement analysis.

Due to motor deficiencies inducing low force capabilities or tremor, many persons have great difficulties to use joystick-operated wheelchairs. To alleviate such difficulties, alternative interfaces using vocal, gaze, or brain signals are now becoming available. While promising, these systems still need to be evaluated thoroughly. In this framework, the aims of this study are to analyze and evaluate the behavior of 11 able-bodied subjects during a navigation task executed with gaze or joystick-operated electric wheelchair involving a door crossing. An electric wheelchair was equipped with retroreflective markers, and their movements were recorded with an optoelectronic system. The gaze commands were detected using an eye tracking device. Apart from classical, forward, backward, stop, left and right commands, the chosen screen-based interface integrated forward-right and forward-left commands. The global success rate with the gaze-based control was 80.3%. The path optimally ratio was 0.97 and the subject adopted similar trajectories with both systems. The results for gaze control are promising and highlight the important utilization of the forward-left and forward-right commands (25% of all issued commands) that may explain the similarity between the trajectories using both interfaces.

Prediction of fingers posture using artificial neural networks.

Predicting the hand and fingers posture during grasping tasks is an important issue in the frame of biomechanics. In this paper, a technique based on neural networks is proposed to learn the inverse kinematics mapping between the fingertip 3D position and the corresponding joint angles. Finger movements are obtained by an instrumented glove and are mapped to a multichain model of the hand. From the fingertip desired position, the neural networks allow predicting the corresponding finger joint angles keeping the specific subject coordination patterns. Two sets of movements are considered in this study. The first one, the training set, consisting of free fingers movements is used to construct the mapping between fingertip position and joint angles. The second one, constructed for testing purposes, is composed of a sequence of grasping tasks of everyday-life objects. The maximal mean error between fingertip measured position and fingertip position obtained from simulated joint angles and forward kinematics is 0.99+/-0.76 mm for the training set and 1.49+/-1.62 mm for the test set. Also, the maximal RMS error of joint angles prediction is 2.85 degrees and 5.10 degrees for the training and test sets respectively, while the maximal mean joint angles prediction error is -0.11+/-4.34 degrees and -2.52+/-6.71 degrees for the training and test sets, respectively. Results relative to the learning and generalization capabilities of this architecture are also presented and discussed.

Evaluation and validation of musculoskeletal force feasible set indices: Application to manual wheelchair propulsion.

The aim of this work was to assess handrim wheelchair propulsion effectiveness, related to the applied forces on the handrim, through the force feasible set. For a given posture of the upper-limb, it represents the set of isometric forces that can be applied on the handrim in any direction. The force feasible set was predicted from a musculoskeletal model of the upper-limb and trunk (10 degrees of freedom and 56 muscles). The aim of the first part of the study was to compare the force feasible set prediction and the force currently applied on the handrim. The second part proposes the creation of a new index called "Musculoskeletal Postural Performance Index" (MPPI) derived from the force feasible set and its comparison with the Mechanical Efficiency Force (MEF). These comparisons were conducted at 60, 80, 100, 120 and 140% of the Freely Chosen Frequency at submaximal and maximal conditions on 5 different phases of the push phase. The values of the MPPI were significantly correlated with those of the MEF. During the course of the push phase, the orientation of the force feasible set main axis approached that of the measured force and the force effectiveness evaluated through the MPPI increased.

Force feasible set prediction with artificial neural network and musculoskeletal model.

Developing tools to predict the force capabilities of the human limbs through the Force Feasible Set (FFS) may be of great interest for robotic assisted rehabilitation and digital human modelling for ergonomics. Indeed, it could help to refine rehabilitation programs for active participation during exercise therapy and to prevent musculoskeletal disorders. In this framework, the purpose of this study is to use artificial neural networks (ANN) to predict the FFS of the upper-limb based on joint centre Cartesian positions and anthropometric data. Seventeen right upper-limb musculoskeletal models based on individual anthropometric data are created. For each musculoskeletal model, the FFS is computed for 8428 different postures. For any combination of force direction and joint positions, ANNs can predict the FFS with high values of coefficient of determination (R2 > 0.89) between the true and predicted data.

Wheelchair propulsion: Force orientation and amplitude prediction with Recurrent Neural Network.

The aim of this study was to use Recurrent Neural Network (RNN) to predict the orientation and amplitude of the applied force during the push phase of manual wheelchair propulsion. Trunk and the right-upper limb kinematics data were assessed with an optoeletronic device (Qualisys) and the force applied on the handrim was recorded with an instrumented wheel (SMARTWheel®). Data acquisitions were performed at 60/80/10/120/140% of the freely chosen frequency at submaximal and maximal conditions. The final database consisted of d = 5708 push phases. The input data were the trunk and right upper-limb kinematics (joint angle, angular velocity and acceleration) and anthropometric data (height, weight, segment length) and the output data were the applied forces orientation and amplitude. A ratio of 70/15/15 was used to train, validate and test the RNN (dtrain = 3996, dvalidation = 856 and dtest = 856). The angle and amplitude errors between the measured and predicted force was assessed from dtest. Results showed that for most of the push phase (∼70%), the force direction prediction errors were less than 12°. The mean absolute amplitude errors were less than 8 N and the mean absolute amplitude percentage errors were less than 20% for most of the push phase (∼80%).

Contribution of interaction torques during dart throwing: Differences between novices and experts.

We examined if experts and novices show different utilization of the torque components impulses during dart throwing. Participants threw darts continuously at a dartboard aiming for the centre (target bull's eye). The upper-limb joint torque impulses were obtained through inverse dynamics with anthropometric and motion capture data as input. Depending on the joint degree of freedom (DOF) and movement phase (acceleration and follow-through), three main strategies of net torque (NET) impulse generation through joint muscle (MUS) and interaction (INT) torque impulses were highlighted. Firstly, our results showed that the elbow flexion-extension DOF leads the movement according to the joint leading hypothesis. Then, considering the acceleration phase, the analysis revealed differences in torque impulse decomposition between expert and novices. For the glenohumeral (GH) joint abduction-adduction and for wrist flexion, the INT torque impulse contributed positively to NET joint torque impulse in the group of experts unlike novices. This allowed to lower the necessary MUS torque impulse at these DOFs. Also, GH axial rotation was actively controlled by muscle torque impulse in the group of experts. During the follow-through, the experts used the INT torque impulse more proficiently than novices to break the elbow extension. The comparison between experts and novices through inverse dynamics document the link between the exploitation of interaction torques impulses and expertise in dart throwing for which the main objective is precision rather than velocity.

The Multifeature Gait Score: An accurate way to assess gait quality.

PURPOSE: This study introduces a novel way to accurately assess gait quality. This new method called Multifeature Gait Score (MGS) is based on the computation of multiple parameters characterizing six aspects of gait (temporal, amplitude, variability, regularity, symmetry and complexity) quantified with one inertial sensor. According to the aspects described, parameters were aggregated into partial scores to indicate the altered aspect in the case of abnormal patterns. In order to evaluate the overall gait quality, partial scores were averaged to a global score. METHODS: The MGS was computed for 3 groups namely: healthy adult (10 subjects), sedentary elderly (11 subjects) and active elderly (20 subjects). Data were gathered from an inertial sensor located at the lumbar region during two sessions of 12m walking. RESULTS: The results based on ANOVA and Tukey tests showed that the partial scores with the exception of those which describe the symmetry aspect were able to discriminate between groups (p<0.05). This significant difference was also confirmed by the global score which shows a significantly lower value for the sedentary elderly group (3.58 ±1.15) compared to the healthy adults (5.19 ±0.84) and active elderly (4.82 ±1.26). In addition, the intersession repeatability of the elaborated global score was excellent (ICC = 0.93, % SEM = 10.81). CONCLUSION: The results obtained support the reliability and the relevance of the MGS as a novel method to characterize gait quality.

Improving the upper-limb force feasible set evaluation by muscles maximal isometric force identification and cocontraction factors.

In order to improve the evaluation of the force feasible set (FFS) of the upper-limb which is of great interest in the biomechanics field, this study proposes two additional techniques. The first one is based on the identification of the maximal isometric force (MIF) of Hill-based muscles models from sEMG and isometric force measurements at the hand. The second one considers muscles cocontraction. The FFS was computed with an upper-limb musculoskeletal model in three different cases. The first one (M1) considered binary muscular activation and a simple MIF scaling method based on the weight and muscle length of the subject. The second one (M2) introduces cocontraction factors determined from sEMG. The third one (M3) considers the cocontraction factors and the MIF identification. Finally, M1, M2 and M3 are compared with end-effector force measurement. M3 outperforms the two other methods on FFS prediction demonstrating the validity and the usefulness of MIF identification and the consideration of the cocontraction factors.

Sequence-dependent rotation axis changes in tennis.

The purpose of this study was to evaluate the role of rotation axes during a tennis serve. A motion capture system was used to evaluate the contribution of the potential axes of rotation (minimum inertia axis, shoulder-centre of mass axis and the shoulder-elbow axis) during the four discrete tennis serve phases (loading, cocking, acceleration and follow through). Ten ranked athletes (International Tennis Number 1-3) repeatedly performed a flat service aiming at a target on the other side of the net. The four serve phases are distinct and thus, each movement phase seems to be organised around specific rotation axes. The results showed that the limbs' rotational axis does not necessarily coincide with the minimum inertia axis across the cocking phase of the tennis serve. Even though individual serving strategies were exposed, all participants showed an effect due to the cocking phase and changed the rotation axis during the task. Taken together, the results showed that despite inter-individual differences, nine out of 10 participants changed the rotation axis towards the minimum inertia and/or the mass axis in an endeavour to maximise external rotation of the shoulder to optimally prepare for the acceleration phase.

Center of pressure based segment inertial parameters validation.

By proposing efficient methods for estimating Body Segment Inertial Parameters' (BSIP) estimation and validating them with a force plate, it is possible to improve the inverse dynamic computations that are necessary in multiple research areas. Until today a variety of studies have been conducted to improve BSIP estimation but to our knowledge a real validation has never been completely successful. In this paper, we propose a validation method using both kinematic and kinetic parameters (contact forces) gathered from optical motion capture system and a force plate respectively. To compare BSIPs, we used the measured contact forces (Force plate) as the ground truth, and reconstructed the displacements of the Center of Pressure (COP) using inverse dynamics from two different estimation techniques. Only minor differences were seen when comparing the estimated segment masses. Their influence on the COP computation however is large and the results show very distinguishable patterns of the COP movements. Improving BSIP techniques is crucial and deviation from the estimations can actually result in large errors. This method could be used as a tool to validate BSIP estimation techniques. An advantage of this approach is that it facilitates the comparison between BSIP estimation methods and more specifically it shows the accuracy of those parameters.

Human upper-limb force capacities evaluation with robotic models for ergonomic applications: effect of elbow flexion.

The aim of this study was to apply models derived from the robotics field to evaluate the human upper-limb force generation capacity. Four models were compared: the force ellipsoid (FE) and force polytope (FP) based on unit joint torques and the scaled FE (SFE) and scaled FP (SFP) based on maximum isometric joint torques. The four models were assessed from four upper-limb postures with varying elbow flexion (40°, 60°, 80° and 100°) measured by an optoelectronic system and their corresponding isometric joint torques. Ten subjects were recruited. Three specific ellipsoids and polytopes parameters were compared: isotropy, principal force orientation and volume. Isotropy showed that the ellipsoids and polytopes were elongated. The angle between the two ellipsoids main axis and the two polytopes remained low but increased with the elbow flexion. The FE and FP volumes increased and those of SFE and SFP decreased with the elbow flexion. The interest and limits of such models are discussed in the framework of ergonomics and rehabilitation.

Toward isometric force capabilities evaluation by using a musculoskeletal model: Comparison with direct force measurement.

Developing formalisms to determine force capabilities of human limbs by using musculoskeletal models could be useful for biomechanical and ergonomic applications. In this framework, the purpose of this study was to compare measured maximal isometric force capabilities at the hand in a set of Cartesian directions with forces computed from a musculoskeletal model of the upper-limb. The results were represented under the form of a measured force polytope (MFP) and a musculoskeletal force polytope (MSFP). Both of them were obtained from the convex hull of measured and simulated force vectors endpoints. Nine subjects participated to the experiment. For one posture recorded with an optoelectronic system, maximum isometric forces exerted at the hand were recorded in twenty six directions of the Cartesian space with a triaxial force sensor. Results showed significant differences between the polytopes global shapes. The MSFP was more elongated than the MFP. Concerning the polytopes volumes, no significant difference was found. Mean maximal isometric forces provided by MFP and MSFP were 509.6 (118.4)N and 627.9 (73.3)N respectively. Moreover, the angle between the main axes of the two polytopes was 5.5 (2.3)° on average. Finally, RMS error values between MFP and MSFP were lower than 100N in 88% of the considered directions. The proposed MSFP based on a musculoskeletal model gave interesting information on optimal force orientation parameters. The possible applications in the frame of ergonomics, rehabilitation and biomechanics are proposed and discussed.