Preliminary gait analysis of frail versus older adults.

[Purpose] This study aimed to verify the usefulness of an inertial measurement unit and compare the gait of frail and robust older adults. [Participants and Methods] Six participants (three males and three females) in their 80s were diagnosed as frail or robust according to Japanese Cardiovascular Health Study criteria. Using an inertial measurement unit, we measured parameters associated with the sole clearance and center of gravity shift. We then calculated the margin of stability in two directions. [Results] The gait analysis of both groups was reliable, as intraclass correlation coefficient values were comparable to the measurement accuracy of the inertial measurement unit achieved in a previous study of young participants. The results revealed that the sole clearance during the swing phase tended to be lower in frail than robust participants; moreover, the center of mass shift tended to be small and step width wide in frail participants, whereas the center of mass shift tended to be large in robust participants. [Conclusion] Our findings are expected to contribute to gait training in rehabilitation programs for older frail adults, the development of welfare equipment such as walking aids for frail elderly individuals, and the establishment of the reliability of inertial measurement unit use.

Effect of forward moment on recovery motion against tripping.

Investigating the fall recovery motion mechanism is crucial to prevent fall injuries. Among the various parameters of motion and posture, the forward moment can be considered the representative parameter of the magnitude of tripping from a kinematic perspective. The effect of increasing the forward moment on the recovery motion after tripping was investigated in this study. A tripping experiment was performed on a treadmill, and the recovery motion was observed. The forward moment was artificially increased using several approaches, such as pulling the torso, increasing gait speed, and increasing body mass. Factor analysis was performed to establish the relationship between the recovery motion parameters and forward moment. The distribution of the factor scores implied the uniqueness of the recovery motion of the pull condition. Although the forward moment temporarily increased, it was compensated quickly. The other conditions and factors indicated qualitative similarity of the recovery motion among the different conditions. This study demonstrates that the recovery motion after tripping is robust against an increase in forward moment, regardless of the method used to increase the forward moment. The investigation of reaction motion pattern enables validation of the recovery motion and falling posture estimation. Such fall simulations will facilitate the development of a method of fall prevention and mitigation.

Relationship between gait stability indices and gait parameters comprising joint angles based on walking data from 288 people.

Stability during walking is essential because falling accidents may lead to severe injuries. In this study, we calculated the margin of stability (MoS) and the maximum Lyapunov exponent (λs), which are two major stability indices for walking, using a gait database representing 300 healthy people. Previously, the relationships between these indices and other gait parameters, including joint angles, have not been investigated in such a large subject pool. Therefore, we determined the relationships between these stability indices and the gait parameters by calculating correlation coefficients and performing multiple regression analysis. The results indicated that MoS is dominated by walking speed in the forward direction and associated with various joint angles in the lateral direction. Conversely, no relationships were identified between λs and the gait parameters. Although both MoS and λs are considered as measures of gait stability, they are independent. The results of this study suggest that MoS and λs represent different aspects of gait motion.

Multiple Spatial Spectral Components of Static Skin Deformation for Predicting Macroscopic Roughness Perception.

A previous study suggested a relationship between the spatial spectrum of finger pad skin deformation and perception of macroscopic roughness features. This study tested a new hypothesis that macroscopic roughness perception is the result of a weighted linear combination of multiple spatial spectral components of skin deformation. Experiments were conducted by capturing close-up images of finger pad deformation while the pads were pushed onto specimens with macroscopic features. Additionally, the roughness perceptions of these specimens were collected using a magnitude estimation method. The combination of spectral components predicted the roughness perception more accurately than any single spectral component. This suggests that roughness perception is mediated by multiple Gabor filter-like neural systems with different spatial periods, such as visual perception.

Linking Temporal Dominance of Sensations for Primary-Sensory and Multi-Sensory Attributes Using Canonical Correlation Analysis.

Sensory responses dynamically change while eating foods. Temporal dominance of sensations (TDS) methods record temporal evolution and have attracted attention in the last decade. ISO 13299 recommends that different levels of attributes are investigated in separate TDS trials. However, only a few studies have attempted to link the dynamics of two different levels of sensory attributes. We propose a method to link the concurrent values of dominance proportions for primary- and multi-sensory attributes using canonical correlation analysis. First, panels categorized several attributes into primary- and multi-sensory attributes. Primary-sensory attributes included sweet, sour, fruity, green, watery, juicy, aromatic, and light. Multi-sensory attributes included refreshing, fresh, pleasurable, rich/deep, ripe, and mild. We applied the TDS methods to strawberries using these two categories of attributes. The obtained canonical correlation model reasonably represented the relationship between the sensations in a reductive manner using five latent variables. The latent variables couple multiple primary- and multi-sensory responses that covary. Hence, the latent variables suggest key components to comprehend food intake experiences. We further compared the model based on the dominance proportions and the time-derivatives of the dominance proportions. We found that the former model was better in terms of the ease of interpreting the canonical variables and the degree to which the canonical variables explain the dominance proportions. Thus, these models help understand and leverage the sensory values of food products.

Surfaces With Finger-Sized Concave Feel Softer.

The judgment of elastic softness is determined not only by mechanical parameters related to hardness, such as the elastic modulus and stiffness, but also by macroscopic surface features. This study experimentally demonstrates that objects with a finger-sized concave with a depth of 1-3 mm feel softer than flat surfaces made of the same materials when they are pushed by a finger. In Experiment 1, participants judged the surfaces of a rigid material with thumb-sized concaves to be softer than the flat and convex surfaces. Experiment 2 used rubbers of various elastic moduli, and the softness of a concave object with a Young's modulus of 0.55 MPa was subjectively equal to that of a flat object with an average Young's modulus of 0.23 MPa. Furthermore, the softness of a convex object was subjectively equal to that of a 1.68 MPa flat object. The contact phenomena between a finger pad and concave or convex objects are different from those between a finger pad and flat objects, and they influence the softness judgment. Such phenomena include the relationship between the pressing force and contact area. These results provide insights into surface design and improve comprehension of the perceptual principles of softness.

Tactile Texture Rendering for Electrostatic Friction Displays: Incorporation of Low-Frequency Friction Model and High-Frequency Textural Model.

Tactile texture presentation on touch panels enhances their usability and realizes immersive user interfaces. This study develops a tactile texture rendering method for electrostatic friction displays. The method combines two rendering models for material textures compared with previous studies which focused on either of these two models. One of these models is a physical model that simulates low-frequency frictional signals depending on the exploratory finger velocities and contact loads. The other is an autoregression-based data-driven model for high-frequency textural friction. For user studies, we compared combining the two models with using only the physical model for the four types of materials. Although the effectiveness varied across the materials, the subjectively judged realism and identification of the materials were improved for the combined condition. The new method combining high-frequency textural information and low-frequency physical model-based friction is expected to provide realistic tactile textures for electrostatic surface tactile displays.

Machine-assisted foot stretching in the elderly: a comparison with self-stretching.

[Purpose] Self-stretching is the traditional at-home stretching method of choice. We developed an automatic foot-stretching machine to perform effective dorsiflexion stretching safely and easily at home. The effects of automatic stretching using our machine and self-stretching were investigated and compared. [Participants and Methods] Twelve healthy elderly people participated in the study. Automatic dorsiflexion static stretching was performed with the right foot, and self-stretching using a towel was performed with the left foot. Before and after each stretching, passive range of motion in dorsiflexion, maximal voluntary contraction strength in plantarflexion, passive resistive torque during passive dorsiflexion, and displacement of the muscle-tendon junction of the medial gastrocnemius muscle were measured. [Results] The range of motion in dorsiflexion had a significantly greater increase after automatic stretching than after self-stretching. The maximum strength in plantarflexion tended to decrease after automatic stretching but did not decrease after self-stretching. The passive resistive torque in both types of stretches decreased in some of the participants but increased in others. The displacement of the muscle-tendon junction of the medial gastrocnemius tended to shorten during automatic stretching as compared with self-stretching. [Conclusion] Foot stretching using a machine is as effective as self-stretching and tends to affect the tendon rather than the muscle.

HumTouch: Localization of Touch on Semi-Conductive Surfaces by Sensing Human Body Antenna Signal.

HumTouch is a touch sensing technology utilizing the environmental electromagnetic wave. The method can be realized using conductive and semi-conductive materials by simply attaching electrodes to the object's surface. In this study, we compared three methods for localizing a touch on 20×16cm2 and 40×36cm2 papers, on which four or eight electrodes were attached to record the voltages leaked from the human fingertip. The number and positions of the electrodes and the data processing of the voltages differed according to the localization methods. By constructing a kernel regression analysis model between the electrode outputs and the actual physical locations, the touched locations were estimated. Each of the three methods was tested via leave-one-out cross validation. Out of the three methods discussed, two exhibited superior performances in terms of the estimation errors. Of these two methods, one simply uses the voltages recorded by the four electrodes attached on the middle of paper edges as inputs to the regression system. The other uses differential outputs of electrode pairs as the inputs. The smallest mean location errors were 0.31 cm on 20×16cm2 paper and 0.27 cm on 40×36cm2 paper, which are smaller than the size of a fingertip.

Principal motion analysis of manual stretching techniques for the ankle joints.

[Purpose] Physical therapists frequently perform manual stretching of the ankle joints. Manual stretching procedures are challenging to define because they involve multidirectional joint motions and external forces. Therefore, in this paper, we propose a method for quantitatively and statistically analyzing the manual foot stretching techniques used by physical therapists. [Participants and Methods] The participants were four physical therapists, and three patients who have a spastic foot. We investigated the manual foot stretching techniques employed by the physical therapists using a three-dimensional analysis system and an instrumented brace with force sensors. Principal motion analysis was applied to the obtained data, and principal motions were determined. [Results] The first principal motion was the application of force for the dorsiflexion of the foot; second, the pushing/pulling of the heel; third, the eversion/inversion of the entire foot; and fourth, the eversion/inversion of the forefoot. Furthermore, the manual stretching techniques varied among the physical therapists, even for the same patient, and some techniques occurred only between particular pairs. [Conclusion] This study demonstrated the effectiveness of the principal motion analysis for the statistical assessment of manual stretching techniques and clarifying differences in stretching technique among physical therapists.

Measurement of Shear Strain Field in a Soft Material Using a Sensor System Consisting of Distributed Piezoelectric Polymer Film.

Measurement of the internal stress and strain distributions within soft materials is necessary in the field of skin contact safety. However, conventional interactive force sensors cannot efficiently obtain or estimate these distributions. Herein, a shear strain sensor system consisting of distributed built-in piezoelectric polyvinylidene fluoride (PVDF) polymer films was developed to measure the internal shear strain field of a soft material. A shear strain sensing model was mathematically established, based on the piezoelectricity and mechanical behavior of a bending cantilever beam, to explain the sensing principle. An experiment in three-dimensional measurement of the shear strain distribution within an artificial skin was designed and conducted to assess the sensitivity of the sensing model. This sensor system could visualize the shear strain field and was sensitive to different contact conditions. The measurement results agreed well with the results of numerical simulation of the substrate, based on contact mechanics. The proposed sensor system was confirmed to provide a new sensing method for the field of shape analysis. The sensor system can be applied to develop sufficiently sensitive electronic skin and can significantly contribute to skin damage analysis and skin contact safety assessment.

Safety considerations for forward falls.

OBJECTIVE: Forward falls are among the most frequent causes of upper extremity fractures. This study investigated the safety considerations to prevent wrist injuries during bimanual forward falls. METHODS: A biomechanical model was developed with two separated arms to facilitate investigation of asymmetrical contact and predict the impact force applied to each hand separately. To validate the developed model, a series of fall experiments were conducted in which one hand collided with a hard surface, while the other collided with a soft surface. RESULTS: The results show that the impact force applied to each hand is independent of the other. Using these results and our model, the safety aspects of human forward falls were analyzed with a view to preventing injuries. Specifically, we sought to determine the safe range of surface stiffness and damping to ensure that the occurrence of forward falls does not lead to trauma. CONCLUSION: The results of this study can be applied in the design of compliant flooring to ensure the safety of people in environments with potential fall hazards. From a robotics viewpoint, the results are applicable in the design of compliant flooring for shared workplaces, where robots collaborate with people and collisions between humans and robots may cause falls.

Monitoring Contact Behavior During Assisted Walking With a Lower Limb Exoskeleton.

Interaction forces between a robotic cuff and the skin during assisted walking with a lower limb exoskeleton may cause skin injuries over time, such as blisters and ulcers. This study proposes a sensing cuff that can monitor the contact behavior between the exoskeleton and skin during assisted walking, and a functional test and assisted walking experiments were conducted to evaluate the performance of the proposed device. The functional test of the sensing cuff showed good performance of capturing the contact behavior for safety evaluation. The walking experiment involved subjects walking on a treadmill with a lower limb exoskeleton under different conditions (i.e., walking speed and clothing), and the sensing cuff attached to the exoskeleton measured the interaction forces and slip velocity. The magnitude of shear force in the movement direction peaked near the beginning and within 40 - 50% of the gait cycle. The contact safety of the lower limb exoskeleton during assisted walking was then evaluated based on the calculated shear stress. The designed sensing cuff could provide sufficient information regarding contact behavior and contact safety during assisted walking.

Effects of exoskeletal gait assistance on the recovery motion following tripping.

Physical assistant robots improve the user's ability to walk. However, they also potentially affect recovery motion following tripping. The assist algorithm should not interfere with the recovery motion, and should enhance the ability of the user to recover after tripping. Thus, in this study, we investigated the recovery motion affected by the assist robot after tripping. We compared the recovery motion with different reaction algorithms. Principal component analysis revealed the effects of the reaction algorithm. Correspondingly, principal components were related to the recovery motion during two steps following tripping. Specifically, the effects of the reaction algorithm were related to a principal component that represented the motion of the second step after tripping and that increased the margin of stability. Furthermore, the margin of stability became significantly large when the assistive torque was applied during the recovery motion. The result of this study suggests that the assist robot can potentially enhances the recovery motion of its user following tripping.

Effect of Material Hardness on Friction Between a Bare Finger and Dry and Lubricated Artificial Skin.

Understanding the tribological phenomena when fingers slide over soft surfaces such as skin is important for many practical applications. Therefore, this article analyzed the coefficients of friction for a bare finger sliding over artificial skin with different hardness under dry and lubricated surface conditions. This article contrasts with previous research that predominantly analyzed the contact between skin and hard surfaces or probes. Under dry conditions, the coefficient of friction was constant for artificial skins that were harder than the finger pad, irrespective of the normal force of the finger. However, the coefficient of friction decreased with increasing normal force for softer artificial skins. When the surface of the artificial skin model was lubricated with mica, the coefficient of friction exhibited normal-force dependence only for soft artificial skins, similar to the observations under dry conditions. This effect was due to the deformation friction; thus, the coefficient of friction increased as the normal force increased. Conversely, when the model was lubricated with TiO2, the coefficient of friction depended on the normal force for all hardness levels. These findings provide insights into the friction experienced during skin-skin or skin-soft material contact under dry and lubricated conditions that can easily occur in daily life. Thus, the results of this study can be useful for the development of skin care products or assistive robots involving human-robot contact.

Histochemical examination on principal collagen fibers in periodontal ligaments of ascorbic acid-deficient ODS-od/od rats.

In this study, we aimed to clarify the role of ascorbic acid in collagen synthesis in periodontal ligaments using osteogenic disorder Shionogi (ODS)/ShiJcl-od/od rats lacking L-gulonolactone oxidase. These rats cannot synthesize ascorbic acid in vivo. Eight-week-old ODS/ShiJcl-od/od male rats were administered ascorbic acid solution at a concentration of 200 mg/dL (control group, n = 6) or ascorbic acid solution at concentration of 0.3 mg/dL (insufficient group, n = 12). Six rats of the insufficient group were then given with ascorbic acid solution at concentration of 200 mg/dL for additional 3 weeks (rescued group, n = 6), and then, their mandibles were histochemically examined. Consequently, the insufficient group specimens were seen to possess fewer collagen fibers, and silver impregnation revealed numerous fine, reticular fiber-like fibrils branching off from collagen in the periodontal ligaments. In control group, faint immunoreactivities for matrix metalloproteinase (MMP)2 and cathepsin H were seen in the periphery of blood vessels and throughout the ligament, respectively. In contrast, in the insufficient group, intense MMP2-immunoreactivity was observed to be associated with collagen fibrils in the periodontal ligaments, and cathepsin H-immunopositivity was seen in ligamentous cells. The rescued group showed abundant collagen fibers filling the periodontal ligament space. Under transmission electron microscopy, ligamentous fibroblasts incorporated collagen fibrils into tubular endosomes/lysosomes while simultaneously synthesizing collagen fibril bundles. Thus, ascorbic acid insufficiency affected the immunolocalization of cathepsin H and MMP2; however, ligamentous fibroblasts appear to possess the potential to synthesize collagen fibers when supplied with ascorbic acid.

Technique to reduce the minimum toe clearance of young adults during walking to simulate the risk of tripping of the elderly.

The elderly gait encompasses several disorders, including a lower minimum toe clearance (MTC) to the ground, which is a potential cause of tripping and falling while walking. Devices that assist in the MTC could reduce such risks. However, the development of effective assistive methods and their evaluation in the elderly might jeopardize their safety. To address this, young adults could take the place of the elderly. We present Muscle Activity Restriction Taping Technique (MARTT) that was devised to simulate the healthy-elderly gait characteristics in the young adults, particularly the lower MTC, by restricting the activity of lower-limb muscles. Two different restriction approaches, one that restricts muscles at the shank and the other at the shank and thigh, simultaneously, were tested at different walking speeds. Both approaches achieved a reduction in the MTC, regardless of the walking speed. The MTC was reduced to a median value lower than 10.1 mm, which is within the range of the MTC values reported for the elderly. The reduction of the MTC significantly increased toe contact to the ground. With the restriction of the shank muscles, the toe-contact frequency was more than twice as that in normal walking, and with the restriction of both the shank and thigh muscles, more than five times. In addition, MARTT reproduced the lower step length, the lower single support phase, and the joint motion compensation characteristic of the elderly gait, in the youth.

Classification and analysis of the natural corner curving motion of humans based on gait motion.

The curving motion of the human body is more complex than gait motion for straight walking. In particular, when human can freely curve corners, the gait motion varies among and even within individuals. However, is it not possible to classify natural curving motion using a statistical method? This study investigates the natural curving motion, encompassing various walking paths selected by subjects, as opposed to previous studies that focused on specific stepping strategies or curving motion under precisely controlled conditions. As a result, the natural curving motions are statistically classified into five distinct groups based on certain motion indices. Each group represents a curving strategy and is mainly characterized by the inner inclination of the pelvis, outer rotation of hip joints at the time of heel contact of the inner leg, and inner and/or outer rotation of hip joints at the time of heel contact of the outer leg. Such strategies are speculated as typical motions within the large variation in natural curving motion. Another finding is that, unlike the joint pattern of lower limb joints in the sagittal plane, hip rotation and the abduction/adduction angle drastically change when curving. In particular, the large inner rotation and abduction angles of the hip joint of both legs, which reached approximately 30° and 10°, respectively, become important when considering the curving gait of a physical assistant robot. Our analysis and findings help specify the joint motion required for physical assistant robots.

Measurement of Contact Behavior Including Slippage of Cuff When Using Wearable Physical Assistant Robot.

Continuous use of wearable robots can cause skin injuries beneath the cuffs of robots. To prevent such injuries, understanding the contact behavior of the cuff is important. Thus far, this contact behavior has not been studied because of the difficulty involved in measuring the slippage under the cuff. In this study, for the first time, the relative displacement, slippage, and interaction force and moment at the thigh cuff of a robot during sit-to-stand motion were measured using an instrumented cuff, which was developed for this purpose. The results indicated that the slippage and relative displacement under the cuff was uneven because of the rotation of the cuff, which suggests that the risk of skin injuries is different at different positions. Especially, the skin closer to the hip showed larger dynamism, with a maximum slippage of approximately 10 mm and a displacement of 20 mm during motion. Another important phenomenon was the individual difference among subjects. During motion, the interaction force, moment, and slippage of some subjects suddenly increased. Such behavior results in stress concentration, which increases the risk of skin injuries. These analyses are intended to understand how skin injuries are caused and to design measures to prevent such injuries.

Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.