Effect of test duration and sensor location on the reliability of standing balance parameters derived using body-mounted accelerometers.

BACKGROUND: Balance parameters derived from wearable sensor measurements during postural sway have been shown to be sensitive to experimental variables such as test duration, sensor number, and sensor location that influence the magnitude and frequency-related properties of measured center-of-mass (COM) and center-of-pressure (COP) excursions. In this study, we investigated the effects of test duration, the number of sensors, and sensor location on the reliability of standing balance parameters derived using body-mounted accelerometers. METHODS: Twelve volunteers without any prior history of balance disorders were enrolled in the study. They were asked to perform two 2-min quiet standing tests with two different testing conditions (eyes open and eyes closed). Five inertial measurement units (IMUs) were employed to capture postural sway data from each participant. IMUs were attached to the participants' right legs, the second sacral vertebra, sternum, and the left mastoid processes. Balance parameters of interest were calculated for the single head, sternum, and sacrum accelerometers, as well as, a three-sensor combination (leg, sacrum, and sternum). Accelerometer data were used to estimate COP-based and COM-based balance parameters during quiet standing. To examine the effect of test duration and sensor location, each 120-s recording from different sensor locations was segmented into 20-, 30-, 40-, 50-, 60-, 70-, 80-, 90-, 100-, and 110-s intervals. For each of these time intervals, time- and frequency-domain balance parameters were calculated for all sensor locations. RESULTS: Most COM-based and COP-based balance parameters could be derived reliably for clinical applications (Intraclass-Correlation Coefficient, ICC ≥ 0.90) with a minimum test duration of 70 and 110 s, respectively. The exceptions were COP-based parameters obtained using a sacrum-mounted sensor, especially in the eyes-closed condition, which could not be reliably used for clinical applications even with a 120-s test duration. CONCLUSIONS: Most standing balance parameters can be reliably measured using a single head- or sternum-mounted sensor within a 120-s test duration. For other sensor locations, the minimum test duration may be longer and may depend on the specific test conditions.

Clinical Static Balance Assessment: A Narrative Review of Traditional and IMU-Based Posturography in Older Adults and Individuals with Incomplete Spinal Cord Injury.

Maintaining a stable upright posture is essential for performing activities of daily living, and impaired standing balance may impact an individual's quality of life. Therefore, accurate and sensitive methods for assessing static balance are crucial for identifying balance impairments, understanding the underlying mechanisms of the balance deficiencies, and developing targeted interventions to improve standing balance and prevent falls. This review paper first explores the methods to quantify standing balance. Then, it reviews traditional posturography and recent advancements in using wearable inertial measurement units (IMUs) to assess static balance in two populations: older adults and those with incomplete spinal cord injury (iSCI). The inclusion of these two groups is supported by their large representation among individuals with balance impairments. Also, each group exhibits distinct aspects in balance assessment due to diverse underlying causes associated with aging and neurological impairment. Given the high vulnerability of both demographics to balance impairments and falls, the significance of targeted interventions to improve standing balance and mitigate fall risk becomes apparent. Overall, this review highlights the importance of static balance assessment and the potential of emerging methods and technologies to improve our understanding of postural control in different populations.

Nonlinear neural control using feedback linearization explains task goals of central nervous system for trunk stability in sitting posture.

Objective.Characterizing the task goals of the neural control system for achieving seated stability has been a fundamental challenge in human motor control research. This study aimed to experimentally identify the task goals of the neural control system for seated stability.Approach.Ten able-bodied young individuals participated in our experiments, which allowed us to measure their body motion and muscle activity during perturbed sitting. We used a nonlinear neuromechanical model of the seated human, along with a full-state feedback linearization approach and optimal control theory for identifying the neural control system and characterizing its task goals.Main results.We demonstrated that the neural feedback for trunk stability during seated posture uses angular position, velocity, acceleration, and jerk in a linearized space. The mean squared error between the predicted and measured motor commands was less than 0.6% among all trials and participants, with a median correlation coefficientrof more than 0.9. Our identified optimal neural control primarily used trunk angular acceleration and near-minimum muscle activation to achieve seated stability while keeping the deviations of the trunk angular position and acceleration sufficiently small.Significance.Our proposed approach to neural control system identification relied on a performance criterion (e.g. cost function) explaining what the functional goal is and subsequently, finds the control law that leads to the best performance. Therefore, instead of assuming what control schemes the neural control might utilize (e.g. proportional-integral-derivative control), optimal control allows the motor task and the neuromechanical model to dictate a control law that best describes the physiological process. This approach allows for a mechanistic understanding of the neuromuscular mechanisms involved in seated stability and for inferring the task goals used by the neural control system to achieve the targeted motor behavior. Such neural control characterization can contribute to the development of objective balance evaluation tools and of bio-inspired assistive neuromodulation technologies.

Nonlinear response of human trunk musculature explains neuromuscular stabilization mechanisms in sitting posture.

Objective. Determining the roles of underlying mechanisms involved in stabilizing the human trunk during sitting is a fundamental challenge in human motor control. However, distinguishing their roles requires understanding their complex interrelations and describing them with physiologically meaningful neuromechanical parameters. The literature has shown that such mechanistic understanding contributes to diagnosing and improving impaired balance as well as developing assistive technologies for restoring trunk stability. This study aimed to provide a comprehensive characterization of the underlying neuromuscular stabilization mechanisms involved in human sitting.Approach. This study characterized passive and active stabilization mechanisms involved in seated stability by identifying a nonlinear neuromechanical physiologically-meaningful model in ten able-bodied individuals during perturbed sitting via an adaptive unscented Kalman filter to account for the nonlinear time-varying process and measurement noises.Main results. We observed that the passive mechanism provided instant resistance against gravitational disturbances, whereas the active mechanism provided delayed complementary phasic response against external disturbances by activating appropriate trunk muscles while showing non-isometric behavior. The model predicted the trunk sway behavior during perturbed sitting with high accuracy and correlation (average: 0.0007 (rad2) and 86.77%). This allows a better mechanistic understanding of the roles of passive and active stabilization mechanisms involved in sitting.Significance. Our characterization approach accounts for the inherently nonlinear behavior of the neuromuscular mechanisms and physiological uncertainties, while allowing for real-time tracking and correction of parameters' variations due to external disturbances and muscle fatigue. The outcome of our research, for the first time, (a) allows a better mechanistic understanding of the roles of passive and active stabilization mechanisms involved in sitting; (b) enables objective evaluation and targeted rehabilitative interventions for impaired balance; facilitate bio-inspired designs of assistive technologies, and (c) opens new horizons in mathematical identification of neuromechanical mechanisms employed in the stable control of human body postures and motions.

Instrumented Functional Test for Objective Outcome Evaluation of Balance Rehabilitation in Elderly Fallers: A Clinical Study.

INTRODUCTION: Observational tests, e.g., the Berg Balance Scale (BBS) are widely used for balance evaluation in the elderly fallers. However, they do not allow objective outcome evaluation of rehabilitative interventions. This study aimed to investigate, in a clinical setting, the use of inertial measurement units (IMUs) integrated into the BBS test for objective outcome evaluation of balance rehabilitation in elderly fallers compared to conventional BBS scores. METHODS: Thirty-six elderly fallers were recruited from the in-patient population of a geriatrics Clinic. Participants performed the BBS test while wearing 3 IMUs placed on the sternum, sacrum, and tibia of the dominant leg following admission to the clinic. Subsequently, they completed a rehabilitation program for 2-4 weeks. They performed a similar test before their discharge. The physical therapist recorded the BBS scores at both sessions, and the sensor data of the 2-min quiet standing task (BBS task 2) were extracted for objective balance evaluation. Moreover, eleven young adults were recruited to perform a 2-min quiet standing test while wearing the same IMUs. Center-of-pressure (COP) and segmental center-of-mass (COM) accelerations were calculated to estimate time-domain, frequency-domain, and intersegment coordination biomarkers of balance. RESULTS: COP time- and frequency-domain measures, COM acceleration time-domain measures, and intersegment coordination measures could identify age-related changes in balance of seniors compared to young adults (p < 0.05). Moreover, balance biomarkers of senior adults exhibited a reduced sway acceleration and jerkiness in the medial-lateral direction post-rehabilitation (p < 0.05). Although the total BBS scores increased post-rehabilitation, sway displacement and velocity did not significantly improve. We observed a significant association between pelvis-leg coordination at high sway oscillations and the total BBS scores pre- and post-rehabilitation. CONCLUSION: IMUs enable not only the characterization of underlying causes of impaired balance but also the identification of improved and yet impaired aspects of balance post-rehabilitation. Hence, IMUs allow us to characterize risk factors post-rehabilitation in elderly fallers, whereas the BBS scores only show changes in overall balance. It is crucial to objectively evaluate the effectiveness of such interventions to reduce future falls and their adverse consequences. Therefore, instrumented balance assessment is recommended since it can provide quantitative and objective measures for clinical outcome evaluations.

Predicted Threshold for Seated Stability: Estimation of Margin of Stability Using Wearable Inertial Sensors.

Individuals with spinal cord injury suffer from seated instability due to impaired trunk neuromuscular function. Monitoring seated stability toward the development of closed-loop controlled neuroprosthetic technologies could be beneficial for restoring trunk stability during sitting in affected individuals. However, there is a lack of (1) a biomechanical characterization to quantify the relationship between the trunk kinematics and sitting balance; and (2) a validated wearable biomedical device for assessing dynamic sitting posture and fall-risk in real-time. This study aims to: (a) determine the limit of dynamic seated stability as a function of the trunk center of mass (COM) position and velocity relative to the base of support; (b) experimentally validate the predicted limit of stability using traditional motion capture; (c) compare the predicted limit of stability with that predicted in the literature for standing and walking; and (d) validate a wearable device for assessing dynamic seated stability and risk of loss of balance. First, we used a six-segment model of the seated human body for simulation. To obtain the limit of stability, we applied forward dynamics and optimization to obtain the maximum feasible initial velocities of the trunk COM that would bring the trunk COM position to the front-end of the base-of-support for a set of initial COM positions. Second, experimental data were obtained from fifteen able-bodied individuals who maintained sitting balance while base-of-support perturbations were applied with three different amplitudes. A motion capture system and four inertial measurement units (IMUs) were used to estimate the trunk COM motion states (i.e., trunk COM position and velocity). The margin of stability was calculated as the shortest distance of the instantaneous COM motion states to those obtained as the limit of stability in the state-space plane. All experimentally obtained trunk COM motion states fell within the limit of stability. A high correlation and small root-mean-square difference were observed between the estimated trunk COM states obtained by the motion capture system and IMUs. IMU-based wearable technology, along with the predicted limit of dynamic seated stability, can estimate the margin of stability during perturbed sitting. Therefore, it has the potential to monitor the seated stability of wheelchair users affected by trunk instability.

Using wearable sensors to characterize gait after spinal cord injury: evaluation of test-retest reliability and construct validity.

STUDY DESIGN: Quantitative cross-sectional study. OBJECTIVES: Evaluate the test-retest reliability and the construct validity of inertial measurement units (IMU) to characterize spatiotemporal gait parameters in individuals with SCI. SETTING: Two SCI rehabilitation centers in Canada. METHODS: Eighteen individuals with SCI participated in two evaluation sessions spaced 2 weeks apart. Fifteen able-bodied individuals were also recruited. Participants walked 20 m overground under five conditions that challenged balance to varying degrees. Five IMU were attached to the lower-extremities and the sacrum to collect the mean and the coefficient of variation of five gait parameters (gait cycle time, double-support percentage, cadence, stride length, stride velocity). Intra-class correlation coefficients (ICC) were used to evaluate the test-retest reliability. Linear mixed-effects models were used to compare the five walking conditions to evaluate known-group validity while Spearman's correlation coefficients were used to characterize the level of association between gait parameters and the Mini BESTest (MBT). RESULTS: Cadence was reliable across all walking conditions. Reliability was higher for the mean (ICC = 0.55-0.98) of the parameters compared to their coefficient of variation (ICC = 0.16-0.97). Cadence collected with IMU had construct validity as their values differed across walking conditions and groups of participants. The coefficient of variation was generally better than the mean to show differences across the five walking conditions. The MBT was moderately to strongly associated with mean cadence (ρ ≥ 0.498) and its coefficient of variation (ρ ≤ -0.49) during most walking conditions. CONCLUSIONS: IMU provide reliable and valid measurements of gait parameters in ambulatory individuals with SCI.

Characterization of standing balance after incomplete spinal cord injury: Alteration in integration of sensory information in ambulatory individuals.

BACKGROUND: Up to one-third of individuals with a recent spinal cord injury (SCI) and most of the individuals with an incomplete lesion are able to regain partial balance and walking ability after the first-year post-injury. However, most individuals experience injurious falls while standing and frequent losses of balance post-rehabilitation, which can result in physical injuries and a fear of falling. RESEARCH QUESTION: Control of balance during quiet standing depends on the integration of sensory information. Since SCI causes sensory and motor impairments, understanding the underlying mechanisms of how postural control is regulated is of significant importance for targeted and guided rehabilitation post-SCI. METHODS: We characterized the impact of a variety of challenging conditions on the standing balance for eight participants with incomplete SCI with walking ability compared to twelve age-matched able-bodied individuals using a waist-mounted inertial measurement unit (IMU). We compared balance biomarkers derived from IMUs' readouts under conditions that challenged balance by affecting somatosensory (i.e., standing on hard vs. foam surfaces) and visual (i.e., eyes open vs. closed) inputs. We performed a three-way ANOVA or a Kruskal-Wallis test to characterize changes in postural control post-SCI based on reliance on somatosensory and visual information using balance biomarkers. RESULTS: We observed a reduced stability performance, an increased control demand, and a less effective active correction post-SCI in all standing conditions. Due to impaired somatosensory feedback, individuals with incomplete SCI showed a higher and lower reliance on visual and somatosensory information, respectively, for maintaining balance (p < 0.05). SIGNIFICANCE: Using a single waist-mounted IMU, the proposed method could characterize standing balance in individuals with incomplete SCI compared to able-bodied participants. Having high clinical utility and sufficient resolution with discriminatory ability, our method could be used in the future to objectively evaluate the effectiveness of rehabilitative interventions on the balance performance of individuals with SCI.

Postural control strategy after incomplete spinal cord injury: effect of sensory inputs on trunk-leg movement coordination.

BACKGROUND: Postural control is affected after incomplete spinal cord injury (iSCI) due to sensory and motor impairments. Any alteration in the availability of sensory information can challenge postural stability in this population and may lead to a variety of adaptive movement coordination patterns. Hence, identifying the underlying impairments and changes to movement coordination patterns is necessary for effective rehabilitation post-iSCI. This study aims to compare the postural control strategy between iSCI and able-bodied populations by quantifying the trunk-leg movement coordination under conditions that affects sensory information. METHODS: 13 individuals with iSCI and 14 aged-matched able-bodied individuals performed quiet standing on hard and foam surfaces with eyes open and closed. We used mean Magnitude-Squared Coherence between trunk-leg accelerations measured by accelerometers placed over the sacrum and tibia. RESULTS: We observed a similar ankle strategy at lower frequencies (f ≤ 1.0 Hz) between populations. However, we observed a decreased ability post-iSCI in adapting inter-segment coordination changing from ankle strategy to ankle-hip strategy at higher frequencies (f > 1.0 Hz). Moreover, utilizing the ankle-hip strategy at higher frequencies was challenged when somatosensory input was distorted, whereas depriving visual information did not affect balance strategy. CONCLUSION: Trunk-leg movement coordination assessment showed sensitivity, discriminatory ability, and excellent test-retest reliability to identify changes in balance control strategy post-iSCI and due to altered sensory inputs. Trunk-leg movement coordination assessment using wearable sensors can be used for objective outcome evaluation of rehabilitative interventions on postural control post-iSCI.

Validity of using wearable inertial sensors for assessing the dynamics of standing balance.

Observational balance tests (e.g., Berg Balance Scale) are used to evaluate fall-risk. However, they tend to be subjective, and their reliability and sensitivity can be limited. The use of in-lab equipment for objective balance evaluation has not been common in clinical practice, due to the requirement of an equipped lab space. While inertial measurement units (IMUs) enable objective out-of-lab balance assessment, their accuracy has not been validated. This study aims to investigate the accuracy of IMUs against in-lab equipment for characterizing standing balance. Ten non-disabled individuals participated in a two-minute standing test on a force-plate. Four approaches were used for estimating inter-segmental moments and center of pressure (COP) position in a four-segment model: (1) camera-based bottom-up approach; (2) camera-based top-down approach; (3) IMU-based (accelerometer) top-down approach; and (4) IMU-based (accelerometer and gyroscope) top-down approach. Approaches 2 to 4 resulted in high accuracy compared to the reference, Approach 1. The root-mean-square errors in estimating the segments' orientation, ground reaction forces, COP position, and joint moments were smaller than 0.3°, 0.2 N/kg, 1.5 mm, and 0.016N·m/kg, respectively. Since no significant differences were observed between the accuracy of Approaches 3 and 4, only accelerometer recordings are needed and could be recommended for monitoring standing balance.

Sensor-to-body calibration procedure for clinical motion analysis of lower limb using magnetic and inertial measurement units.

Magnetic and Inertial measurement units (MIMUs) have become exceedingly popular for ambulatory human motion analysis during the past two decades. However, measuring anatomically meaningful segment and joint kinematics requires virtual alignment of the MIMU frame with the anatomical frame of its corresponding segment. Therefore, this paper presents a simple calibration procedure, based on MIMU readouts, to align the inertial frame of the MIMU with the anatomical frames, as recommended by ISB. The proposed calibration includes five seconds of quiet standing in a neutral posture followed by ten consecutive hip flexions/extensions. This procedure will independently calibrate MIMUs attached to the pelvis, thigh, shank, and foot. The accuracy and repeatability of the calibration procedure and the 3D joint angle estimation were validated against the gold standard motion capture system by an experimental study with ten able-bodied participants. The procedure showed high test-retest repeatability in aligning the MIMU frame with its corresponding anatomical frame, i.e., the helical angle between the MIMU and anatomical frames did not significantly differ between the test and retest sessions (except for thigh MIMU). Compared to previously introduced procedures, this procedure attained the highest inter-participant repeatability (inter-participant coefficient of variations of the helical angle: 20.5-42.2%). Further, the proposed calibration would reduce the offset errors of the 3D joint angle estimation (up to 12.8 degrees on average) compared to joint angle estimation without calibration (up to 26.3 degrees on average). The proposed calibration enables MIMU to measure clinically meaningful gait kinematics.

Optimal Estimation of Anthropometric Parameters for Quantifying Multisegment Trunk Kinetics.

Kinetics assessment of the human head-arms-trunk (HAT) complex via a multisegment model is a useful tool for objective clinical evaluation of several pathological conditions. Inaccuracies in body segment parameters (BSPs) are a major source of uncertainty in the estimation of the joint moments associated with the multisegment HAT. Given the large intersubject variability, there is currently no comprehensive database for the estimation of BSPs for the HAT. We propose a nonlinear, multistep, optimization-based, noninvasive method for estimating individual-specific BSPs and calculating joint moments in a multisegment HAT model. Eleven nondisabled individuals participated in a trunk-bending experiment and their body motion was recorded using cameras and a force plate. A seven-segment model of the HAT was reconstructed for each participant. An initial guess of the BSPs was obtained by individual-specific scaling of the BSPs calculated from the male visible human (MVH) images. The intersegmental moments were calculated using both bottom-up and top-down inverse dynamics approaches. Our proposed method adjusted the scaled BSPs and center of pressure (COP) offsets to estimate optimal individual-specific BSPs that minimize the difference between the moments obtained by top-down and bottom-up inverse dynamics approaches. Our results indicate that the proposed method reduced the error in the net joint moment estimation (defined as the difference between the net joint moment calculated via bottom-up and top-down approaches) by 79.3% (median among participants). Our proposed method enables an optimized estimation of individual-specific BSPs and, consequently, a less erroneous assessment of the three-dimensional (3D) kinetics of a multisegment HAT model.

Quantification of multi-segment trunk kinetics during multi-directional trunk bending.

BACKGROUND: Motion assessment of the body's head-arms-trunk (HAT) using linked-segment models, along with an inverse dynamics approach, can enable in vivo estimations of inter-vertebral moments. However, this mathematical approach is prone to experimental errors because of inaccuracies in (i) kinematic measurements associated with soft tissue artifacts and (ii) estimating individual-specific body segment parameters (BSPs). The inaccuracy of the BSPs is particularly challenging for the multi-segment HAT due to high inter-participant variability in the HAT's BSPs and no study currently exists that can provide a less erroneous estimation of the joint moments along the spinal column. RESEARCH QUESTION: This study characterized three-dimensional (3D) inter-segmental moments in a multi-segment HAT model during multi-directional trunk-bending, after minimizing the experimental errors. METHOD: Eleven healthy individuals participated in a multi-directional trunk-bending experiment in five directions with three speeds. A seven-segment HAT model was reconstructed for each participant, and its motion was recorded. After compensating for experimental errors due to soft tissue artifacts, and using optimized individual-specific BSPs, and center of pressure offsets, the inter-segmental moments were calculated via inverse dynamics. RESULTS: Our results show a significant effect of the inter-segmental level and trunk-bending directions on the obtained moments. Compensating for soft tissue artifacts contributed significantly to reducing errors. Our results indicate complex, task-specific patterns of the 3D moments, with high inter-participant variability at different inter-segmental levels, which cannot be studied using single-segment models or without error compensation. SIGNIFICANCE: Interpretation of inter-segmental moments after compensation of experimental errors is important for clinical evaluations and developing injury prevention and rehabilitation strategies.