Simultaneous in-air and underwater 3D kinematic analysis of swimmers: Feasibility and reliability of action sport cameras.

This study explored the potential of reconstructing the 3D motion of a swimmer's hands with accuracy and consistency using action sport cameras (ASC) distributed in-air and underwater. To record at least two stroke cycles of an athlete performing a front crawl task, the cameras were properly calibrated to cover an acquisition volume of 3 m in X, 8 m in Y, and 3.5 m in Z axis, approximately. Camera calibration was attained by applying bundle adjustment in both environments. A testing wand, carrying two markers, was acquired to evaluate the three-dimensional (3D) reconstruction accuracy in-air, underwater, and over the water transition. The global 3D accuracy (mean absolute error) was less than 1.5 mm. The standard error of measurement and the coefficient of variation were smaller than 1 mm and 1%, respectively, revealing that the camera calibration procedure was highly repeatable. No significant correlation between the error magnitude (percentage error during the test and the retest sessions: 1.2 to 0.8%) and the transition from in-air to underwater was observed. The feasibility of the hand motion reconstruction was demonstrated by recording five swimmers during the front crawl stroke, in three different tasks performed at increasing efforts. Intra-class correlation confirmed the optimal agreement (ICC>0.90) among repeated stroke cycles of the same swimmer, irrespective of task effort. Skewness, close to 0, and kurtosis, close to 3.5, supported the hypothesis of negligible effects of the calibration and tracking errors on the motion and speed patterns. In conclusion, we may argue that ASCs, equipped with a robust bundle adjustment camera calibration technique, ensure reliable reconstruction of swimming motion in in-air and underwater large volumes.

Postural adjustments preceding string release in trained archers.

Optimal postural stability is required to perform in archery. Since the dynamic consequences of the string release may disturb postural equilibrium, they should be integrated into an archer motor programme to optimize postural stability. This study aimed to characterize the postural strategy archers use to limit the potentially detrimental impact of the bow release on their postural stability and identify characteristics that may explain a better performance. Six elite and seven sub-elite archers performed a series of 18 shots at 70 metres, standing on two force plates. Postural stability indicators were computed during the aiming and the shooting phase using the trajectory of the centre of pressure. Two postural strategies were defined, as whether they were triggered before (early) or after (late) the string release time. Both groups used anticipated postural adjustments, but elite archers triggered them before the string release more often and sooner. Scores differed between the two groups, but no differences were found between early and late shots. Trained archers seem to have finely integrated the dynamic consequences of their bow motion, triggering anticipated postural adjustments prior to the string release. However, it remains unclear whether this anticipation can positively influence the performance outcome.

Biomechanical comparison between manual and motorless device assisted patient handling: sitting to and from standing position.

Although lots of assistive devices have been studied to fight against caregivers' work-related musculoskeletal disorders, stand-and-turn devices effects on biomechanical constraints are still unknown. The aim of this study is to provide and compare quantitative data on loads in the low back area resulting from the use of a motorless stand-and-turn device and from manual patient handling. Nine caregivers participated to motion capture and ground reaction forces measurement sessions of three cases of handling: manual handling with one caregiver, manual handling with two caregivers, motorless device assisted handling. Forces and torques at the L5/S1 joint were computed through Inverse Dynamics process. Motorless device assisted handling required the smallest loads whereas manual handling with one caregiver required the biggest loads, the latter being in some cases twice as big as the former. Caregivers should use a stand-and-turn device when handling a patient from sitting/standing to standing/sitting position whenever it is possible.

Reliability of a Repeated High-Intensity Effort Test for Elite Rugby Union Players.

This study aimed to adapt a repeated high-intensity effort (RHIE) test to the rugby union physical demands and assess both sprint time and tackle indices reliability. Following a familiarization session, sixteen elite rugby union players completed two RHIE tests consisting of 12 × 20 m sprint + tackle. Total sprint time and total g-force during tackling, average sprint time and average g-force as well as percentage decrementsprint time and percentage decrementtackle were considered for the analysis. Sprint time indices showed high to very high absolute and relative reliability (intraclass coefficient correlation (ICC) = 0.95, Standard Error Measurement (SEM) = 1.30%; ICC = 0.95, SEM = 1.44%; ICC = 0.73, SEM = 23.0%, for total sprint time, average sprint time and percentage decrementsprint time, respectively). Tackle indices showed moderate to high reliability (ICC = 0.54, SEM = 16.5%; ICC = 0.61, SEM = 15.6%; ICC = 0.71, SEM = 12.3%, for total g-force, average g-force and percentage decrementtackle, respectively). The RHIE test provides reliable measures of sprint time and tackle indices. Tackle indices should be used as a validation criterion of the test, whereas total time should be considered as the test final result.

Moving system with action sport cameras: 3D kinematics of the walking and running in a large volume.

Traditionally, motion analysis in clinical laboratories using optoelectronic systems (MOCAP) is performed in acquisition volumes of limited size. Given the complexity and cost of MOCAP in larger volumes, action sports cameras (ASC) represent an alternative approach in which the cameras move along with the subject during the movement task. Thus, this study aims to compare ASC against a traditional MOCAP in the perspective of reconstructing walking and running movements in large spatial volumes, which extend over the common laboratory setup. The two systems, consisting of four cameras each, were closely mounted on a custom carrying structure endowed with wheels. Two different acquisition setups, namely steady and moving conditions, were taken into account. A devoted calibration procedure, using the same protocol for the two systems, enabled the reconstruction of surface markers, placed on voluntary subjects, during the two acquisition setups. The comparison was quantitatively expressed in terms of three-dimensional (3D) marker reconstruction and kinematic computation quality. The quality of the marker reconstruction quality was quantified by means of the mean absolute error (MAE) of inter-marker distance and two-stick angle. The kinematic computation quality was quantified by means of the measure of the knee angle reconstruction during walking and running trials. In order to evaluate the camera system and moving camera effects, we used a Wilcoxon rank sum test and a Kruskal Wallis test (post-hoc Tukey), respectively. The Spearman correlation coefficient (ρ) and the Wilcoxon rank sum test were applied to compare the kinematic data obtained by the two camera systems. We found small ASC MAE values (< 2.6mm and 1.3°), but they were significantly bigger than the MOCAP (< 0.7mm and 0.6°). However, for the human movement no significant differences were found between kinematic variables in walking and running acquisitions (p>0.05), and the motion patterns of the right-left knee angles between both systems were very similar (ρ>0.90, p<0.05). These results highlighted the promising results of a system that uses ASC based on the procedure of mobile cameras to follow the movement of the subject, allowing a less constrained movement in the direction in which the structure moves, compared to the traditional laboratory setup.

Comparative study between fully tethered and free swimming at different paces of swimming in front crawl.

Tethered swimming is a method often used to measure or enhance the physical and technical resources of swimmers. Although it is highlighted that the technique used in tethered swimming is probably different from that used in free conditions, there are few comparative studies on this subject. The current study aims to compare fully tethered and free swimming based on kinematic hand parameters (orientation, velocity and acceleration of the hand, sweepback and angle of attack), which are known to act directly on the generation of propulsive forces. The results show that there are significant differences during the stretch and catch phases but less during the insweep and upsweep phases. Tethered swimming makes it possible to estimate the propelling forces generated by the hand in free swimming at distance and middle-distance paces, but overestimates it at sprint pace. However, in view of the modifications of the kinematic parameters, it should not be used under repeated conditions of use, such as for the development of swimmers' capacity.

Are Action Sport Cameras Accurate Enough for 3D Motion Analysis? A Comparison With a Commercial Motion Capture System.

The aim of this study was to assess the precision and accuracy of an Action Sport Camera (ASC) system (4 GoPro Hero3+ Black) by comparison with a commercial motion capture (MOCAP) system (4 ViconMX40). Both systems were calibrated using the MOCAP protocol and the 3D markers coordinates of a T-shaped tool were reconstructed, concurrently. The 3D precision was evaluated by the differences in the reconstructed position using a Bland-Altman test, while accuracy was assessed by a rigid bar test (Wilcoxon rank sum). To examine the accuracy of the ASC in respect to the knee flexion angles, a jump and gait task were also examined using one subject (Wilcoxon rank sum). The ASC system provided a maximum error of 2.47 mm, about 10 times higher than the MOCAP (0.21 mm). The reconstructed knee flexion angles were highly correlated (r2>0.99) and showed no significant differences between systems (<2.5°; p>0.05). As expected, the MOCAP obtained better 3D precision and accuracy. However, we show such differences have little practical effect on reconstructed 3D kinematics.

Identification of Noise Covariance Matrices to Improve Orientation Estimation by Kalman Filter.

Magneto-inertial measurement units (MIMUs) are a promising way to perform human motion analysis outside the laboratory. To do so, in the literature, orientation provided by an MIMU is used to deduce body segment orientation. This is generally achieved by means of a Kalman filter that fuses acceleration, angular velocity, and magnetic field measures. A critical point when implementing a Kalman filter is the initialization of the covariance matrices that characterize mismodelling and input error from noisy sensors. The present study proposes a methodology to identify the initial values of these covariance matrices that optimize orientation estimation in the context of human motion analysis. The approach used was to apply motion to the sensor manually, and to compare the orientation obtained via the Kalman filter to a measurement from an optoelectronic system acting as a reference. Testing different sets of values for each parameter of the covariance matrices, and comparing each MIMU measurement with the reference measurement, enabled identification of the most effective values. Moreover, with these optimized initial covariance matrices, the orientation estimation was greatly improved. The method, as presented here, provides a unique solution to the problem of identifying the optimal covariance matrices values for Kalman filtering. However, the methodology should be improved in order to reduce the duration of the whole process.

Simple and efficient thermal calibration for MEMS gyroscopes.

Gyroscopes are now becoming one of the most sold MEMS sensors, given that the many applications that require their use are booming. In the medical field, gyroscopes can be found in Inertial Measurement Units used for the development of clinical tools that are dedicated to human-movement monitoring. However, MEMS gyroscopes are known to suffer from a drift phenomenon, which is mainly due to temperature variations. This drift dramatically affects measurement capability, especially that of cheap MEMs gyroscopes. Calibration is therefore a key factor in achieving accurate measurements. However, traditional calibration procedures are often complex and require costly equipment. This paper therefore proposes an easy protocol for performing a thermal gyroscope calibration. In this protocol, accuracy over the angular velocity is evaluated by referring to an optoelectronic measurement, and is compared with the traditional calibration performed by the manufacturer. The RMSE between the reference angular velocity and that obtained with the proposed calibration was of 0.7°/s, which was slightly smaller than the RMSE of 1.1°/s achieved by the manufacturer's calibration. An analysis of uncertainty propagation shows that offset variability is the major source of error over the computed rate of rotation from the tested sensors, since it accounts for 97% of the error. It can be concluded that the proposed simple calibration method leads to a similar degree of accuracy as that achieved by the manufacturer's procedure.

Unsteady computational fluid dynamics in front crawl swimming.

The development of codes and power calculations currently allows the simulation of increasingly complex flows, especially in the turbulent regime. Swimming research should benefit from these technological advances to try to better understand the dynamic mechanisms involved in swimming. An unsteady Computational Fluid Dynamics (CFD) study is conducted in crawl, in order to analyse the propulsive forces generated by the hand and forearm. The k-ω SST turbulence model and an overset grid method have been used. The main objectives are to analyse the evolution of the hand-forearm propulsive forces and to explain this relative to the arm kinematics parameters. In order to validate our simulation model, the calculated forces and pressures were compared with several other experimental and numerical studies. A good agreement is found between our results and those of other studies. The hand is the segment that generates the most propulsive forces during the aquatic stroke. As the pressure component is the main source of force, the orientation of the hand-forearm in the absolute coordinate system is an important kinematic parameter in the swimming performance. The propulsive forces are biggest when the angles of attack are high. CFD appears as a very valuable tool to better analyze the mechanisms of swimming performance and offers some promising developments, especially for optimizing the performance from a parametric study.

Comparison of calibration methods for accelerometers used in human motion analysis.

In the fields of medicine and biomechanics, MEMS accelerometers are increasingly used to perform activity recognition by directly measuring acceleration; to calculate speed and position by numerical integration of the signal; or to estimate the orientation of body parts in combination with gyroscopes. For some of these applications, a highly accurate estimation of the acceleration is required. Many authors suggest improving result accuracy by updating sensor calibration parameters. Yet navigating the vast array of published calibration methods can be confusing. In this context, this paper reviews and evaluates the main measurement models and calibration methods. It also gives useful recommendations for better selection of a calibration process with regard to a specific application, which boils down to a compromise between accuracy, required installation, algorithm complexity, and time.

Kinematic hand parameters in front crawl at different paces of swimming.

The aim of this study was to investigate the evolution of kinematic hand parameters (sweepback angle, angle of attack, velocity, acceleration and orientation of the hand relative to the absolute coordinate system) throughout an aquatic stroke and to study the possible modifications caused by a variation of the swimming pace. Seventeen competitive swimmers swam at long distance, middle distance and sprint paces. Parameters were calculated from the trajectory of seven markers on the hand measured with an optoelectronic system. Results showed that kinematic hand parameters evolve differently depending on the pace. Angle of attack, sweepback angle, acceleration and orientation of the hand do not vary significantly. The velocity of the hand increases when the pace increases, but only during the less propulsive phases (entry and stretch and downsweep to catch). The more the pace increases and the more the absolute durations of the entry and stretch and downsweep to catch phases decrease. Absolute durations of the insweep and upsweep phases remain constant. During these phases, the propulsive hand forces calculated do not vary significantly when the pace increases. The increase of swimming pace is then explained by the swimmer's capacity to maintain propulsive phases rather than increasing the force generation within each cycle.

Can optimal marker weightings improve thoracohumeral kinematics accuracy?

Local and global optimization algorithms have been developed to estimate joint kinematics to reducing soft movement artifact (STA). Such algorithms can include weightings to account for different STA occur at each marker. The objective was to quantify the benefit of optimal weighting and determine if optimal marker weightings can improve humerus kinematics accuracy. A pin with five reflective markers was inserted into the humerus of four subjects. Seven markers were put on the skin of the arm. Subjects performed 38 different tasks including arm elevation, rotation, daily-living tasks, and sport activities. In each movement, mean and peak errors in skin- vs. pins-orientation were reported. Then, optimal marker weightings were found to best match skin- and pin-based orientation. Without weighting, the error of the arm orientation ranged from 1.9° to 17.9°. With weighting, 100% of the trials were improved and the average error was halved. The mid-arm markers weights were close to 0 for three subjects. Weights of a subject applied to the others for a given movement, and weights of a movement applied to others for a given subject did not systematically increased accuracy of arm orientation. Without weighting, a redundant set of marker and least square algorithm improved accuracy to estimate arm orientation compared to data of the literature using electromagnetic sensor. Weightings were subject- and movement-specific, which reinforces that STA are subject- and movement-specific. However, markers on the deltoid insertion and on lateral and medial epicondyles may be preferred if a limited number of markers is used.

The role of the entry-and-stretch phase at the different paces of race in front crawl swimming.

The aim of this study was to determine the role played by the entry-and-stretch phase in the coordination of swimming, at the different paces of race. Three national level swimmers (two men and one woman) were recorded, in lateral and bottom views, in three swimming paces: sprint (50 m and 100 m), middle-distance (200 m and 400 m) and long-distance (800 m and 1500 m). Anatomical landmark positions were obtained by manual digitalisation of the videos. Computational fluid dynamics and experimental studies (with a strain gauge balance and particle image velocimetry method) were used to measure and to calculate the external forces applied to the hand and to the forearm and to visualise the flow around the profile. Entry-and-stretch is the phase which varies the most according to the swimming pace. This phase can be decomposed into two sub-phases: one, the extension forward coordinated with the insweep of the opposite arm, and another one, the rotation downward coordinated with the upsweep. Results show that, at the three paces, this phase is not propulsive and could contribute essentially to maintain the horizontal balance of the body.

Segment-embedded frame definition affects the hip joint centre precision during walking.

Due to marker-specific soft tissue artefacts, the choice of the markers defining the segment-embedded frame affects the functional joint centre location, with subsequent error propagation to joint kinematics and kinetics in gait analysis. Our aim was to assess the effect of the number and placement of markers on the precision of the hip joint centre (HJC) location during walking. Twelve markers (2x6) were attached to the pelvis and left thigh of 15 young male subjects. Set-up movements were collected to locate an optimised functional HJC. For all permutations of three from six markers, a HJC was located and subsequently reconstructed in a static trial and during walking. Precision measures with two different definitions of the origin, namely a single maker or their mean-point, and using three, four, five and six were calculated. Finally, marker triads that reduced the variability of the HJC location were determined. Both the number of markers and method for defining the origin significantly affected the HJC precision during static and walking trials. For walking, precision of 39 mm using three markers improved to 5mm using redundant markers and the mean marker position as the segment origin. Markers placed close to the joint gave more consistent results.

Assessment of reproducibility of thigh marker ranking during walking and landing tasks.

The aim of this paper is to analyse the repeatability of marker deformation and marker ranking across subjects and motor tasks. A method based on the solidification of the thigh with optimized rototranslation was applied which used 26 markers placed on the left thigh. During five trials of landing and five trials of walking for eight participants, the deformation between the actual positions of the 26 markers and the recalled positions from solidification were calculated. Markers were then sorted and ranked from the most deformed to the least deformed. Like previous studies, marker deformation found in this paper is subject and movement-dependant. The reproducibility of the marker rankings was assessed using Kendall's coefficient of concordance. Results highlighted that the marker ranking was similar between the trials of landing and between the trials of walking. Moreover, for walking and landing the rankings were consistent across the eight subjects.

Computation of the 3D kinematics in a global frame over a 40m-long pathway using a rolling motion analysis system.

A rolling motion analysis system has been purpose-built to acquire an accurate three-dimensional kinematics of human motion with large displacement. Using this device, the kinematics is collected in a local frame associated with the rolling motion analysis system. The purpose of this paper is to express the local kinematics of a subject walking on a 40 m-long pathway in a global system of co-ordinates. One participant performed five trials of walking while he was followed by a rolling eight camera optoelectronic motion analysis system. The kinematics of the trials were reconstructed in the global frame using two different algorithms and 82 markers placed on the floor organized in two parallel and horizontal lines. The maximal error ranged from 0.033 to 0.187 m (<0.5% of the volume diagonal). As a result, this device is accurate enough for acquiring the kinematics of cyclic activities with large displacements in ecological environment.

Comparison of the SCoRE and HA methods for locating in vivo the glenohumeral joint centre.

A recent paper has described a new functional method, the symmetrical centre of rotation (SCoRE), for locating joint centre position [Ehrig, R.M., Taylor, W.R., Duda, G.N., Heller, M.O., 2006. A survey of formal methods for determining the centre of rotation of ball joints. Journal of Biomechanics 39 (15), 2798-2809]. For in vitro analyses, the SCoRE method showed better precision than helical axis (HA) or sphere fitting methods. Despites HA determination is very sensitive to small angular velocity, the International Society of Biomechanics has recommended to use HA for locating the glenohumeral joint centre. This paper aims at comparing the SCoRE method with the HA method for locating in vivo the glenohumeral joint centre according to the movement characteristics. Nine subjects performed 10 cycles of three different movements at two different velocities. For each test (combination of movements) the location of the centre of rotation was estimated with both methods (SCoRE and HA). Analyses focused on the 3D location of the glenohumeral joint centre and on the repeatability of location (standard deviation). This study showed that SCoRE and HA methods yielded the same GH location. Nevertheless, with SCoRE method, the location of the glenohumeral joint centre was different according to the test. This study evidenced that the SCoRE method was more precise than HA method (error of 3 mm versus 4.6 mm) and that the GH location with the SCoRE method was not affected by movements with slow velocities.