Body Kinematics Research Articles

Didactical proposal for the study of rigid body kinematics using analytical, video-tracking, and simulated cases of a four-bar mechanism

This work used three methods (analytical, simulated, and video-tracking) to analyze the kinematics of a four-bar mechanism. The results obtained were shared and implemented in an engineering dynamics course at the university level to assess the impact of this exercise on motivation and understanding of the course topic. A survey was used to evaluate the exercise. The survey results showed that for the students, the implementation of different methods to tackle the same problem improved their understanding of the concepts and gave them other options for analyzing a mechanical system.

Heel Riser Height Influence on Kinematics and Muscle Activity of Ski Mountaineering: A FieldBased Study

Introduction: The ski binding plays an important role in ski mountaineering. When traveling uphill, the binding has an adjustable heel height known as the riser. Previous laboratory research reported joint kinematics and kinetics are influenced by riser height, however little is known about changes to muscle activity associated with differing joint motion. The purpose of this work was to assess riser height influence on kinematics and muscle activity at different slopes during on-snow skiing. Methods: Three female and nine male recreational ski mountaineers (19-26 y) were tested on 5o and 16o gradients using no riser (0 cm) and riser (5.3 cm) at a submaximal 80% HRmax. Each subject used Backland 85 UL skis and Backland Bindings (Atomic Skis, Altenmarkt, Austria). Subjects skied for 6 min at each binding setting with the last 10 gait-cycles evaluating lower limb joint motion gathered from 2D-sagittal plane motion capture. Electromyography (EMG) collected unilaterally on the rectus femoris, biceps femoris, medial gastrocnemius and triceps brachii also. Results: 5o slope: hip range of motion [ROM] decreased (p = .003), ankle ROM decreased (p =.005), stride length decreased (p = .004), RPE increased (p = .02) for riser compared to no riser. At 16o slope: hip ROM decreased (p = .001), and Rating of perceived exertion [RPE] decreased (p =.004) for riser compared to no riser. HR, glide distance, velocity, EMG, and net mechanical efficiency were not different between riser heights on either slope. Conclusion: Lower body joint kinematics, step length and RPE varied significantly with riser height. Kinematic differences did not impact velocity or muscle activity when controlling pace. These results agree with previous findings showing minimal differences in EMG and HR while lower body kinematics and RPE changed with riser height.

Comparative analysis of upper body kinematics in stroke, Parkinson's disease, and healthy subjects: An observational study using IMU-based targeted box and block test

BackgroundThe Box and Block Test (BBT) is an essential and widely used test in rehabilitation for the assessment of gross unilateral manual dexterity. Although it is a valid, simple, and ecological instrument, it does not provide a quantitative measure of the upper limb trajectories during the test. Research questionThe study introduces a new motion-capture-based method (using ecological Inertial Measurement Units - IMUs) to evaluate upper body kinematics while performing a targeted version of BBT (tBBT). MethodsThis observational study compares data from 35 healthy subjects, 35 subjects with Parkinson’s disease, and 35 post-stroke individuals to evaluate upper limb kinematics during tBBT quantitatively. Seven IMUs were placed on the trunk, head, and upper limb of each subject. The joint angles and kinematic scores were calculated and analyzed. Motor task execution time and kinematic scores were statistically correlated with clinical assessment measures. Kruskal-Wallis between groups test and Dunn-Bonferroni post-hoc were used. ResultsThe statistics revealed significant differences (p<0.05) among the three groups. The analyzed joint angles highlight various compensatory strategies in neurological subjects, such as using the trunk to complete a motor task instead of the shoulder and using the wrist instead of the elbow, along with differences in movement fluidity (DimensionLess-Jerk, p<0.05). A positive correlation was found between kinematics and the Fugl-Meyer Assessment-Upper Limb (r=0.7344; p<0.01), and a negative correlation between kinematics and the Unified Parkinson's Disease Rating Scale (r=-0.5286; p<0.01). SignificanceThe quantitative assessments of joint kinematics correlated to clinical assessments could guarantee a new method of assessment of the upper limb in subjects with motor deficits. This would allow to capture new insight into the characteristics of the subject’s disability, with implications for the choice of a personalized rehabilitation treatment focused on the motor recovery of the upper limb.

Using markerless motion capture and musculoskeletal models: An evaluation of joint kinematics.

This study presents a comprehensive comparison between a marker-based motion capture system (MMC) and a video-based motion capture system (VMC) in the context of kinematic analysis using musculoskeletal models. Focusing on joint angles, the study aimed to evaluate the accuracy of VMC as a viable alternative for biomechanical research. Eighteen healthy subjects performed isolated movements with 17 joint degrees of freedom, and their kinematic data were collected using both an MMC and a VMC setup. The kinematic data were entered into the AnyBody Modelling System, which enables the calculation of joint angles. The mean absolute error (MAE) was calculated to quantify the deviations between the two systems. The results showed good agreement between VMC and MMC at several joint angles. In particular, the shoulder, hip and knee joints showed small deviations in kinematics with MAE values of 4.8∘, 6.8∘ and 3.5∘, respectively. However, the study revealed problems in tracking hand and elbow movements, resulting in higher MAE values of 13.7∘ and 27.7∘. Deviations were also higher for head and thoracic movements. Overall, VMC showed promising results for lower body and shoulder kinematics. However, the tracking of the wrist and pelvis still needs to be refined. The research results provide a basis for further investigations that promote the fusion of VMC and musculoskeletal models.

Literature review of specific techniques in catching and throwing in infield defense in baseball - retrospective article

&lt;p&gt;目的：內野手可以是整個棒球守備的核心，棒球守備各階段全身上下的協調，有許多值得探討的專項技巧。方法：本研究使用Google scholar，以Baseball infielder、內野、野球守備、內野捕球、守備ゴロ等關鍵字，搜尋台灣、日本、美國三國關於棒球內野守備專項技巧的文獻做歸納，以不同角度探討內野守備的專項技巧：一、內野守備接球，二、內野守備傳球，三、守備的分期與各分期之動作控制。結果：本篇回顧性論文發現，一、移動腳步到好接球的彈跳點是良好守備的關鍵。二、減少軸心腳在接球位置上的變化和較為前面的接球點，對於接球的穩定性至關重要，甚至會影響到後續傳球的動能。三、精簡接傳的動作相較於增加傳球球速可能可以更能有效減少整體守備時間。四、優秀選手在接球的過程中會儘早讓軸心腳著地，並前期和中期將重心保留在軸心腳。五、內野手傳球在前導腳接觸時，軀幹向後扭轉和肘部伸展角度都會比投手小。結論：無論是接球前腳步移動的節奏和精確性，還是接球時的接球點和接短彈跳的能力，甚至是軀幹和骨盆前傾的時機點，對於內野守備過程都產生一定的影響。建議在日常練習時，就能將接短彈跳、腳步移動，納入訓練課表中，並且在動作過程中，加以檢視軀幹的姿勢，方能在比賽時擁有良好的守備表現。&lt;/p&gt; &lt;p&gt;&amp;nbsp;&lt;/p&gt;&lt;p&gt;The standing throw with run-up is the best approach to evaluate the performance of energy transfer and the efficiency of throwing motions for handball players. Purpose: This research aims at analyzing the usage of the standing throw with run-up among the handball players in Taiwan. The roles of body kinematics, strength of core muscles and standing balance of the drive leg played in the standing throw with run-up are also discussed. Methods: Nine Division I handball players from college went through a series of tests. The motions and the speed of the handball throwing were detected by a 3D electromagnetic motion analysis system and a sports radar gun, respectively. The maximum isometric muscle strength of trunks and hips were measured by a torque sensor and a home-made device of strength measurement. The standing balance of the drive leg was measured by a force plate with a mat. Results: The maximal shoulder external rotation angle in the arm cocking phase, the maximal trunk rotation velocity in the arm acceleration phase and the maximal shoulder horizontal adduction velocity showed moderate positive relationships with the ball velocity. The strength of back muscles had a moderate negative relationship with the ball velocity. The correlation between the balance ability of the drive leg and the ball velocity was not observed. Conclusion: The importance of proximal segments to the standing throw with run-up is analyzed by kinematical analysis. It is suggested that the energy of handball throwing is generated by the upper extremities or other limb segments in the processes of the standing throw with run-up. Our findings can serve as a helpful reference for both coaches and players.&lt;/p&gt; &lt;p&gt;&amp;nbsp;&lt;/p&gt;

Walking balance control in different settings: Effects of walking speed and biological sex

BackgroundPrevious research has suggested that spatiotemporal step parameters differ between settings; however, it remains unclear how different settings influence walking balance control. Research questionHow do settings and sex influence walking balance control during walking at different speeds for young adults? MethodsForty-two adults (21 male (23 ± 4 years), 21 female (24 ± 5 years)) completed overground walking trials in four settings: laboratory (10 m), hallway, indoor open, and outdoor pathway (all 20 m) at three self-selected speeds (slow, preferred, fast) following verbal instructions. Participants wore 17 inertial sensors (Xsens Awinda, Movella, Henderson, NV) to capture total body kinematics. The number of included strides was matched across all conditions, with six strides included in each condition for all participants. Medial-lateral and anterior-posterior total body angular momentum range over each stride was calculated (HML range and HAP range). Setting × speed × sex mixed factorial analysis of variance with repeated measures on setting and speed were used for statistical analysis (α =.05). ResultsSignificant setting × speed interactions (p <.001) were present for both outcomes. HML range was greater in the laboratory and hallway compared to the indoor open and outdoor pathway settings for slow walking speed only. HAP range was lower in the outdoor pathway compared to all indoor settings at slow and preferred walking speeds. Differences in HAP range between settings was more pronounced at the slow speed condition. Across setting and speed conditions, HML range was greater for males compared to females. SignificanceYoung adults may alter their balance control strategy depending on the setting (laboratory, indoor open and outdoor pathway), particularly at slow speeds. Researchers and clinicians are cautioned not to assume walking in laboratory settings reflects walking in all settings nor that males and females can be examined as a single group.

Prosody matters: Preserved prominence marking strategies in people with Parkinson's disease independent of motor status.

While many studies focus on segmental variation in Parkinsonian speech, little is known about prosodic modulations reflecting the ability to adapt to communicative demands in people with Parkinson's disease (PwPD). This type of prosodic modulation is important for social interaction, and it involves modifications in speech melody (intonational level) and articulation of consonants and vowels (segmental level). The present study investigates phonetic cues of prosodic modulations with respect to different focus structures in mild dysarthric PwPD as a function of levodopa. Acoustic and kinematic speech parameters of 25 PwPD were assessed in two motor conditions. Speech production data from PwPD were collected before (medication-OFF) and after levodopa intake (medication-ON) by means of 3-D electromagnetic articulography. On the acoustic level, intensity, pitch, and syllable durations were analyzed. On the kinematic level, movement duration and amplitude were investigated. Spatio-temporal modulations of speech parameters were examined and compared across three different prosodic focus structures (out-of-focus, broad focus, contrastive focus) to display varying speech demands. Overall, levodopa had beneficial effects on motor performance, speech loudness, and pitch modulation. Acoustic syllable durations and kinematic movement durations did not change, revealing no systematic effects of motor status on the temporal domain. In contrast, there were spatial modulations of the oral articulators: tongue tip movements were smaller and lower lip movements were larger in amplitude under levodopa, reflecting a more agile and efficient articulatory movement under levodopa. Thus, respiratory-phonatory functions and consonant production improved, while syllable duration and tongue body kinematics did not change. Interestingly, prominence marking strategies were comparable between the medication conditions under investigation, and in fact, appear to be preserved in mild dysarthric PwPD.

A novel method for measuring three-axis dynamic centrifugal acceleration field: the matrix transformation method

Abstract When a three-axis dynamic centrifuge is used to test the performance of inertial equipment (accelerometer, gyroscope, gyro-accelerometer, etc.), accurate estimating of the acceleration at the sensing position of the tested sensors is a key step. To solve the problem of the lack of relevant suitable methods, first, the principle of rigid body kinematics is used to prove that the acceleration of each point on a rigid body changes linearly with respect to the position. Subsequently, a matrix transformation method for accurately measuring the acceleration field on the three-axis dynamic centrifuge is presented. In this method, the distribution law (expressed by a 3×3 matrix) of the acceleration field is calculated based on the measured acceleration at multiple positions. After that the acceleration estimation value at any point on the centrifuge can be calculated. Finally, the uncertainty of the estimated acceleration value is analysed, and a verification experiment is carried out. The results show that the accuracy of this method is mainly limited by the accuracy of the acceleration measurements. The preliminary verification experiment system shows that the mean deviation of the estimated value error obtained by this method is less than 0.024 g, the standard uncertainty is less than 0.015 g, the left and right endpoints of the 95% probability inclusion interval are less than -0.026 g and 0.036 g, respectively, and the half width of the interval is less than 0.028 g. In all, this paper provides a powerful tool for examining the precision performance of inertial equipment on a three-axis dynamic centrifuge, and can also be used for calibration of this kind of centrifuge.

Adapted Training to Boost Upper Body Sensorimotor Control and Daily Living Functionality in Visually Impaired Baseball Players.

Background and Objectives: Vision significantly contributes to postural control, balance, coordination, and body kinematics, thus deeply influencing everyday functionality. Sight-impaired subjects often show upper body anatomofunctional and kinetic chain alterations negatively impacting daily living efficiency and autonomy. The present study aimed to investigate and train, for the first time, upper body sensorimotor control in an Italian blind baseball team to boost global and segmental functionality while contemporarily prevent injuries. Materials and Methods: The whole team underwent a validated test battery using both quantitative traditional tools, such as goniometric active range of motion and muscular/functional tests, and an innovative biofeedback-based device, a Libra proprioceptive board. Consequently, a 6-week adapted training protocol was designed and leaded to improve sensorimotor control and, hence, counteract disability-related deficits and sport-specific overuse syndromes. Results: Statistically significant improvements were observed in all the investigated parameters. Noteworthy, an overall boost of global and segmental stability was detected through an orthostatic dynamic balance enhancement during the Y Balance test (p = 0.01) and trunk multiplanar control improvement on the Libra board (p = 0.01). Concurrently, the comparison of baseline vs. post-intervention outcomes revealed a consistent increase in upper body mobility (p < 0.05 for all the assessed districts), core recruitment (p = 0.01 for all the administered functional tests), and proprioceptive postural control (p = 0.01 for the Libra board validated test). Conclusions: Our findings suggest that a tailored sensorimotor training, conceived and led by an adapted physical activity kinesiologist, may effectively improve upper body functional prerequisites and global proprioceptive control, thus potentially promoting autonomy, quality of life, and physical activity/sport practice adherence in visually impaired individuals.

ISB recommendations on the definition, estimation, and reporting of joint kinematics in human motion analysis applications using wearable inertial measurement technology

There is widespread and growing use of inertial measurement technology for human motion analysis in biomechanics and clinical research. Due to advancements in sensor miniaturization, inertial measurement units can be used to obtain a description of human body and joint kinematics both inside and outside the laboratory. While algorithms for data processing continue to improve, a lack of standard reporting guidelines compromises the interpretation and reproducibility of results, which hinders advances in research and development of measurement and intervention tools. To address this need, the International Society of Biomechanics approved our proposal to develop recommendations on the use of inertial measurement units for joint kinematics analysis. A collaborative effort that incorporated feedback from the biomechanics community has produced recommendations in five categories: sensor characteristics and calibration, experimental protocol, definition of a kinematic model and subject-specific calibration, analysis of joint kinematics, and quality assessment. We have avoided an overly prescriptive set of recommendations for algorithms and protocols, and instead offer reporting guidelines to facilitate reproducibility and comparability across studies. In addition to a conceptual framework and reporting guidelines, we provide a checklist to guide the design and review of research using inertial measurement units for joint kinematics.

Bottom-up butterfly model with thorax-pitch control and wing-pitch flexibility

The diversity in butterfly morphology has attracted many people around the world since ancient times. Despite morphological diversity, the wing and body kinematics of butterflies have several common features. In the present study, we constructed a bottom-up butterfly model, whose morphology and kinematics are simplified while preserving the important features of butterflies. The present bottom-up butterfly model is composed of two trapezoidal wings and a rod-shaped body with a thorax and abdomen. Its wings are flapped downward in the downstroke and backward in the upstroke by changing the geometric angle of attack (AOA). The geometric AOA is determined by the thorax-pitch and wing-pitch angles. The thorax-pitch angle is actively controlled by abdominal undulation, and the wing-pitch angle is passively determined because of a rotary spring representing the basalar and subalar muscles connecting the wings and thorax. We investigated the effectiveness of abdominal undulation for thorax-pitch control and how wing-pitch flexibility affects aerodynamic-force generation and thorax-pitch control, through numerical simulations using the immersed boundary–lattice Boltzmann method. As a result, the thorax-pitch angle perfectly follows the desired angle through abdominal undulation. In addition, there is an optimal wing-pitch flexibility that maximizes the flying speed in both the forward and upward directions, but the effect of wing-pitch flexibility on thorax-pitch control is not significant. Finally, we compared the flight behavior of the present bottom-up butterfly model with that of an actual butterfly. It was found that the present model does not reproduce reasonable body kinematics but can provide reasonable aerodynamics in butterfly flights.

The exploration of the upper body kinematics and kinematic asymmetries during forwards and backwards wheelchair propulsion

The current literature available on the kinematic asymmetries in the upper body during wheelchair propulsion remains limited (Slowick, Requejo, Mulro. &amp; Neptune, 2015, Front Bioeng Biotech, 3, 86-86). This research provides an opportunity to add to this limited area and help provide an understanding of the how the upper body movements change when faced with a change in speed and direction. The present cross-sectional laboratory study aimed to explore the kinematics and kinematic asymmetries during forwards and backwards wheelchair propulsion in able bodied individuals. This study investigated the effect of changes in speed and quantified the upper body kinematics of forwards and backwards wheelchair propulsion. Upon ethical approval, five able bodied participants, 3 male and 2 female (age = 21 ± 1 years, stature = 173 ± 8 cm, mass = 73 ± 7 kg) provided written informed consent and participated in this study. Participants took part in exercise regularly but had no prior wheelchair experience. Individual measurements (Height, weight, weekly exercise levels, injury history, dominant hand and upper body pain via the musculoskeletal pain questionnaire) were taken then participants took part in a series of trials in a wheelchair. Four Inertial Measurement Units (IMeasureU, Blue Trident, VICON, Oxford, UK) were placed on the participant's 7th cervical vertebrae, underneath the wheelchair seat and on the lateral side of each humerus above the elbow joint. Before testing began, participants were given a five-minute familiarisation period on the wheelchair. The testing consisted of ten forwards and ten backwards self-paced wheelchair propulsions on an Invictus Active Trainer (Invictus Active, Wolverhampton, UK), a 20 metre sprint overground on a track (with verbal encouragement throughout the sprint) and a single arm 3 kg medicine ball throw. All tests were performed from a stationary start and shoulder angles were measured to 180° before each test began. This research expects to see a difference in angular velocity between each participant's arms, with a greater level of asymmetry as speed increases. Participants are required to work harder in order to gain speed and as a result their propulsion technique will change to meet the new demands. The other expectation is to see the same side as the participants dominant hand have a higher level of force production during propulsion compared to their arm with the non-dominant hand.

Transhumeral prosthesis use affects upper body kinematics and kinetics

BackgroundTranshumeral (TH) limb loss leads to loss of body mass and reduced shoulder range of motion. Despite most owning a prosthesis, prosthesis abandonment is common. The consequence of TH limb loss and prosthesis use and disuse during gait may be compensation in the upper body, contributing to back pain or injury. Understanding the impact of not wearing a TH prosthesis on upper body asymmetries and spatial-temporal aspects of gait will inform how TH prosthesis use and disuse affects the body. Research questionDoes TH limb loss alter upper body asymmetries and spatial-temporal parameters during gait when wearing and not wearing a prosthesis compared to able-bodied controls? MethodsEight male TH limb loss participants and eight male control participants completed three gait trials at self-selected speeds. The TH limb loss group performed trials with and without their prosthesis. Arm swing, trunk angular displacement, trunk-pelvis moment, and spatial-temporal aspects were compared using non-parametric statistical analyses. ResultsBoth TH walking conditions showed greater arm swing in the intact limb compared to the residual (p≤0.001), resulting in increased asymmetry compared to the control group (p≤0.001). Without the prosthesis, there was less trunk flexion and lateral flexion compared to the control group (p≤0.001). Maximum moments between the trunk and pelvis were higher in the TH group than the control group (p≤0.05). Spatial-temporal parameters of gait did not differ between the control group and either TH limb loss condition. SignificanceProsthesis use affects upper body kinematics and kinetics, but does not significantly impact spatial-temporal aspects of gait, suggesting these are compensatory actions. Wearing a prosthesis helps achieve more normative upper body kinematics and kinetics than not wearing a prosthesis, which may help limit back pain. These findings emphasize the importance of encouraging at least passive use of prostheses for individuals with TH limb loss.

Dynamical Modeling and Dynamic Characteristics Analysis of a Coaxial Dual-Rotor System

The dual-rotor structure is the primary excitation source of aero-engine vibration. It is essential to study the dynamical model and analyse the dynamic characteristics such as critical speed and the unbalanced response for rotor system dynamics. The coaxial dual-rotor support scheme of an aero-engine was introduced in the previous work, and the physical model with a high-speed flexible inner rotor of a sizeable length-diameter ratio has been designed. Then a finite element dynamic model based on the Timoshenko beam elements and rigid body kinematics of the dual-rotor system is modelled, with the Newmark-β method and Newton-Raphson method used for the numerical calculation to study the dynamic characteristics of the system. Three different simulation models, including beam-based FE (1D finite element) model, solid-based FE (3D finite element) model, and TM (transfer matrix) model, were designed to study the characteristics of mode and the critical speed characteristic of the dual-rotor system. The unbalanced response of the dual-rotor system was analysed to study the influence of mass unbalance on the rotor system. The effect of different disc unbalance phases and different speed ratios on the dynamic characteristics of the dual-rotor system were investigated in detail. The experimental result shows that the beam-based FE model is effective and suitable for studying the dual-rotor system. Conflict of Interest Statement The authors declare no conflicts of interest.

The acute effects of kinesio-taping on movement kinematics and muscle co-activation in rowing athletes.

Rowing-related low back disorders may occur from inconsistent technique, high trunk flexion and training volumes, overactivation of paraspinal muscles, and fatigue. To examine if kinesiology tape (KT) affixed to the trunk dorsum affects muscular co-activation and neuromuscular control to limit dangerous rowing movements and associated injuries. Participants (n= 18) completed two 2000m rowing trials under BASELINE and KT conditions. KT was applied to the skin superficial to the paraspinals bilaterally with 60% pre-strain. Participants were instructed to minimize any sensation of tension. Whole body kinematics were obtained using inertial measurement units (IMUs), and surface electromyograms (EMGs) were recorded from trunk and lower extremity. Changes in joint range-of-motion (ROM) and co-activation indices (CAIs) were analyzed for shoulder, lumbar, hip, and knee. Responding participants (n= 5) were identified by reduced maximum lumbar flexion during the KT condition. As expected, significant differences occurred in maximum and minimum lumbar flexion/extension between responders and non-responders to KT. Additionally, there was significant reduction in mean trunk muscle co-activation in both those who did and did not respond to KT through reductions in maximum lumbar flexion. KT can be an effective at reducing mean trunk co-activation during a rowing trial in the flexed catch position. Variable responses suggest that further work is necessary to optimize the efficacy of sensory cues derived from KT during rowing movements.

Study of binary fragmentation dynamics of 260Rf compound nucleus at an excitation energy of 85.7 MeV

The fission dynamics has been studied for a near super heavy compound nucleus 260Rf populated through 28Si + 232Th reaction at an excitation energy of 85.7 MeV. Full momentum transfer binary events were separated from the transfer induced fission events. The contribution from transfer induced fission has been found to be 7±2%. Mas ratio distribution, mass-total kinetic energy (TKE), and mass angle correlation have been extracted for the full momentum transfer events using two body kinematics. The experimentally extracted width of mass distribution is higher than the mass width calculated theoretically using the saddle-point model, which indicates the presence of non-compound nuclear fission in the reaction under study. The mass-TKE distribution obtained for 260Rf nucleus matches with the theoretical predictions from the Viola systematics and GEneral description of Fission observables (GEF) model. The mass-angle distribution for the reaction under study indicates no significant correlation between the mass and emission angles of the fission fragments.

Heel riser height influence on kinematics and muscle activity of ski mountaineering – A field based study

Introduction The ski binding plays an important role in ski mountaineering. When traveling uphill, the binding has an adjustable heel height known as the riser. Previous laboratory research reported joint kinematics and kinetics are influenced by riser height, however little is known about changes to muscle activity associated with differing joint motion. The purpose of this work was to assess riser height influence on kinematics and muscle activity at different slopes during on-snow skiing. Methods Three female and nine male recreational ski mountaineers (19-26 y) were tested on 5o and 16o gradients using no riser (0 cm) and riser (5.3 cm) at a submaximal 80% HRmax. Each subject used Backland 85 UL skis and Backland Bindings (Atomic Skis, Altenmarkt, Austria). Subjects skied for 6 min at each binding setting with the last 10 gait-cycles evaluating lower limb joint motion gathered from 2D-sagittal plane motion capture. Electromyography (EMG) collected unilaterally on the rectus femoris, biceps femoris, medial gastrocnemius and triceps brachii also. Results 5o slope: hip range of motion (ROM) decreased (p = .003), ankle ROM decreased (p = .005), stride length decreased (p = .004), rating of perceived exertion (RPE) increased (p = .02) for riser compared to no riser. At 16o slope: hip ROM decreased (p = .001), and RPE decreased (p = .004) for riser compared to no riser. HR, glide distance, velocity, EMG, and net mechanical efficiency were not different between riser heights on either slope. Discussion/Conclusion Lower body joint kinematics, step length and RPE varied significantly with riser height. Kinematic differences did not impact velocity or muscle activity when controlling pace. These results agree with previous findings showing minimal differences in EMG and HR while lower body kinematics and RPE changed with riser height.

Jump Performance and Its Relationship with Lower Body Joint Kinetics and Kinematics in Children with Cerebral Palsy.

The aim was to quantify jump performance in children with cerebral palsy (CP) and determine if the expected deficit is related to their lower body joint kinetics and kinematics. Twenty-four ambulatory ( n = 17 level I and 7 level II in the Gross Motor Function Classification System) children with spastic CP ( n = 13 unilateral and 11 bilateral) and 24 age-, sex-, and race-matched typically developing controls were studied. Jump height and peak power and range of motion at the hip, knee, and ankle of the more affected limb in children with CP and the nondominant limb in controls were assessed during a countermovement jump using three-dimensional motion capture and a force platform. Compared with controls, children with CP had lower jump height (33%, Cohen's d ( d ) = 1.217), peak power at the knee (39%, d = 1.013) and ankle (46%, d = 1.687), and range of motion at the hip (32%, d = 1.180), knee (39%, d = 2.067), and ankle (46%, d = 3.195; all P < 0.001). Jump height was positively related to hip, knee, and ankle power and range of motion in children with CP ( rs range = 0.474-0.613, P < 0.05), and hip and ankle power and knee and ankle range of motion in controls ( rs range = 0.458-0.630, P < 0.05). The group difference in jump height was no longer detected when ankle joint power, ankle range of motion, or knee range of motion was statistically controlled ( P > 0.15). Jump performance is compromised in children with CP and is associated with low power generation and range of motion in the lower limb, especially at the ankle.

Novel hybrid rigid-deformable fetal modeling for simulating the vaginal delivery within the second stage of labor

Background and objectiveThe fetal representation as a 3D articulated body plays an essential role to describe a realistic vaginal delivery simulation. However, the current computational solutions have been oversimplified. The objective of the present work was to develop and evaluate a novel hybrid rigid-deformable modeling approach for the fetal body and then simulate its interaction with surrounding fetal soft tissues and with other maternal pelvis soft tissues during the second stage of labor. MethodsCT scan data was used for 3D fetal skeleton reconstruction. Then, a novel hybrid rigid-deformable model of the fetal body was developed. This model was integrated into a maternal 3D pelvis model to simulate the vaginal delivery. Soft tissue deformation was simulated using our novel HyperMSM formulation. Magnetic resonance imaging during the second stage of labor was used to impose the trajectory of the fetus during the delivery. ResultsOur hybrid rigid-deformable fetal model showed a potential capacity for simulating the movements of the fetus along with the deformation of the fetal soft tissues during the vaginal delivery. The deformation energy density observed in the simulation for the fetal head fell within the strain range of 3 % to 5 %, which is in good agreement with the literature data. ConclusionsThis study developed, for the first time, a hybrid rigid-deformation modeling of the fetal body and then performed a vaginal delivery simulation using MRI-driven kinematic data. This opens new avenues for describing more realistic behavior of the fetal body kinematics and deformation during the second stage of labor. As perspectives, the integration of the full skeleton body, especially the upper and lower limbs will be investigated. Then, the completed model will be integrated into our developed next-generation childbirth training simulator for vaginal delivery simulation and associated complication scenarios.

Sequential track fusion in multi-sensor networks of unscented Kalman filters: A case of slip estimation in planetary mobile robots

Accurate wheel slip estimation facilitates Wheeled Mobile Robots (WMRs) with improved localization and traversability monitoring which are crucial to their autonomy in challenging planetary environments. Although distributed track-level fusion offers better computational efficiency, often sensor-level fusion is adopted in slip estimators of planetary rovers. Extending upon our earlier work, we develop a novel explicit track-to-track fusion algorithm for multi-sensor networks of unscented Kalman filters that has immediate application to slip ratio estimation in WMRs. The algorithm demonstrates better consistency compared to the existing fusion techniques since it implements a sub-optimal fusion rule to sequentially combine local tracks. It also saves computational power due to the recursive propagation of cross-covariance matrices based on the statistical linearization technique, instead of performing online optimizations. We prove that this recursion only requires the information of the first and last tracks in a sequence if all local tracks are unbiased. We rigorously study various key properties of the developed fusion algorithm and show its superior level of confidence when compared to the two prominent fusion methods of sequential and batch covariance intersection. The slip ratio estimation in a six-wheel WMR is considered as a case study, where the steerable wheel sets act as a network of sensors. The proposed slip estimator works based on the rigid body kinematics and readings of purely proprioceptive sensors, i.e., an inertial measurement unit and encoders. The slip estimator’s performance is evaluated in a high-fidelity software-in-the-loop simulation environment connecting MATLAB and CM Lab’s Vortex Studio software. In a comparison study that considers four rival strategies, we show the superiority of the proposed fusion method offering a balance between consistency, accuracy, and speed in real-time slip estimations.