High-resolution Motion Capture Research Articles

Different types of mastoid vibrations affect the amount and structure of minimum toe clearance variability differently

BackgroundThe majority of research primarily examines the role of the vestibular system in regulating balance by assessing gait parameters in the transverse plane while neglecting those in the sagittal plane. The present study aimed to examine the impact of various forms of mastoid vibration (MV) on minimum toe clearance (MTC) and its pattern of variability. This study proposed two hypotheses: 1) the application of MV reduced the MTC, and 2) the application of different forms of MV influenced the amount and structure of MTC variability. MethodsA total of twenty young adults participated in this study. A high-resolution motion capture system with eight cameras captured the minimum toe clearance. Three locomotor tasks were randomly assigned to these young participants: 1) walking normally on the treadmill, 2) walking with unilateral MV, and 3) walking with bilateral MV. The dependent variables were the mean of MTC, the amount, and the structure of MTC variability. The amount of MTC variability was calculated by the coefficient of variation represented, and the structure of MTC variability was measured using a sample entropy measure for a total of 200 MTCs. ResultsApplying unilateral and bilateral MV decreased the MTC significantly (-1.6 %, p = 0.038; −4.3 %, p < 0.001) compared to normal walking. Also, applying unilateral MV increased the amount (11.8 %, p = 0.001) and structure of MTC variability (14.3 %, p < 0.001) compared to normal walking. However, applying bilateral MV decreased the amount (-8.8 %, p = 0.001) and structure of MTC variability (-9.0 %, p < 0.001) compared to regular walking. ConclusionAlthough the statistical differences in MTC and MTC variability were observed in the present study, the mean differences among the different MV conditions were relatively small, thereby requiring meticulous deliberation when extrapolating the results when implementing this MTC in the pathological cohort.

WHAT RANGE OF MOTION (ROM) DOES A HIP ARTHROPLASTY ACTUALLY NEED? A CT-BASED METHOD TO PREDICT AN INDIVIDUAL'S HIP ROM PREOPERATIVELY

Ideally the hip arthroplasty should not be subject to bony or prosthetic impingement, in order to minimise complications and optimise outcomes. Modern 3d planning permits pre-operative simulation of the movements of the planned hip arthroplasty to check for such impingement. For this to be meaningful, however, it is necessary to know the range of movement (ROM) that should be simulated. Arbitrary “normal” values for hip ROM are of limited value in such simulations: it is well known that hip ROM is individualised for each patient. We have therefore developed a method to determine this individualised ROM using CT scans.CT scans were performed on 14 cadaveric hips, and the images were segmented to create 3d virtual models. Using Matlab software, each virtual hip was moved in all potential directions to the point of bony impingement, thus defining an individualised impingement-free 3d ROM envelope. This was then compared with the actual ROM as directly measured from each cadaver using a high-resolution motion capture system.For each hip, the ROM envelope free of bony impingement could be described from the CT and represented as a 3d shape. As expected, the directly measured ROM from the cadaver study for each hip was smaller than the CT-based prediction, owing to the presence of constraining soft tissues. However, for movements associated with hip dislocation (such as flexion with internal rotation), the cadaver measurements matched the CT prediction, to within 10°.It is possible to determine an individual's range of clinically important hip movements from a CT scan. This method could therefore be used to create truly personalised movement simulation as part of pre-operative 3d surgical planning.

Why flying insects gather at artificial light

Explanations of why nocturnal insects fly erratically around fires and lamps have included theories of “lunar navigation” and “escape to the light”. However, without three-dimensional flight data to test them rigorously, the cause for this odd behaviour has remained unsolved. We employed high-resolution motion capture in the laboratory and stereo-videography in the field to reconstruct the 3D kinematics of insect flights around artificial lights. Contrary to the expectation of attraction, insects do not steer directly toward the light. Instead, insects turn their dorsum toward the light, generating flight bouts perpendicular to the source. Under natural sky light, tilting the dorsum towards the brightest visual hemisphere helps maintain proper flight attitude and control. Near artificial sources, however, this highly conserved dorsal-light-response can produce continuous steering around the light and trap an insect. Our guidance model demonstrates that this dorsal tilting is sufficient to create the seemingly erratic flight paths of insects near lights and is the most plausible model for why flying insects gather at artificial lights.

Design and validation of a virtual reality trainer for ultrasound‐guided regional anaesthesia

Virtual reality is a form of high-fidelity simulation that may be used to enhance the quality of medical education. We created a bespoke virtual reality trainer software using high resolution motion capture and ultrasound imagery to teach cognitive-motor needling skills necessary for the performance of ultrasound-guided regional anaesthesia. The primary objective of this study was to determine the construct validity between novice and experienced regional anaesthetists. Secondary objectives were: to create learning curves for needling performance; compare the virtual environment immersion with other high-fidelity virtual reality software; and compare cognitive task loads imposed by the virtual trainer compared with real-life medical procedures. We recruited 21 novice and 15 experienced participants, each of whom performed 40 needling attempts on four different virtual nerve targets. Performance scores for each attempt were calculated based on measured metrics (needle angulation, withdrawals, time taken) and compared between the groups. The degree of virtual reality immersion was measured using the Presence Questionnaire, and cognitive burden was measured using the NASA-Task Load Index. Scores by experienced participants were significantly higher than novices (p=0.002) and for each nerve target (84% vs. 77%, p=0.002; 86% vs. 79%, p=0.003; 87% vs. 81%, p=0.002; 87% vs. 80%, p=0.003). Log-log transformed learning curves demonstrated individual variability in performance over time. The virtual reality trainer was rated as being comparably immersive to other high-fidelity virtual reality software in the realism, possibility to act and quality of interface subscales (all p > 0.06) but not in the possibility to examine and self-performance subscales (all p < 0.009). The virtual reality trainer created workloads similar to those reported in real-life procedural medicine (p=0.53). This study achieved initial validation of our new virtual reality trainer and allows progression to a planned definitive trial that will compare the effectiveness of virtual reality training on real-life regional anaesthesia performance.

Poster 208: Changes in Posterior Tibial Slope Following "L" and "Inverse L" High Tibial Osteotomy: A Biomechanical Study

Objectives:High tibial osteotomy (HTO) is a well-established procedure for addressing varus deformity of the knee or offloading the medial compartment in cases of medial compartment osteoarthritis. Altering the weightbearing axis of the tibia through HTO may result in unintended changes to the posterior tibial slope (PTS) and thus the sagittal stability of the knee. In 2003, Lobenhoffer described a biplanar “L” shaped HTO with an ascending cut in the coronal plane, leaving the tibial tubercle on the distal side of the osteotomy. Since then, multiple techniques have been described, including an “Inverse L”, leaving the tibial tubercle on the proximal end of the osteotomy. We present a modified “flex” version to the plate fixation used in the “L” and “Inverse L” technique with the goal of minimizing changes in the PTS during HTO. To quantify the effect of osteotomy technique on PTS, “L” (n=5), “Inverse L” (n=5), “L with flex” (n=6), and “Inverse L with flex” (n=6) techniques were performed on cadaveric specimens following medial opening wedge HTO (Figure1). Pre- and post-osteotomy fluoroscopic images were taken and PTS measured to determine whether one technique was more effective at minimizing PTS change after medial HTO.Methods:The tibia from 22 fresh frozen cadaveric male specimen (11 pairs, mean age 46 + 14) were removed of all soft-tissue. Native anteroposterior and lateral radiographs were taken. Three independent observers measured the PTS angle using the circle method. Two 2.4mm Kirschner wires were placed through the medial cortex of the tibia at the metaphyseal-diaphyseal junction aimed towards the tip of the fibular head as a guide for the sagittal cut performed in the posterior four-fifths of the tibia. The oblique osteotomy stopped 10-15mm medial to the lateral tibial cortex and the joint line to avoid fracture. The osteotomy site was then medially opened 10mm. One specimen from each pair was randomized to receive the “L” shaped ascending HTO with the contralateral limb receiving the “Inverse L” shaped descending HTO. Vertical cuts on the coronal plane extending 3-4cm (proximally for the “L” and distally for “Inverse L”) were completed. 6 specimens from each group were subsequently fixed proximally with an anteriorly angled plate (15 degrees) which was forced posteriorly and fixed to the shaft (Figure 2). This plate “flex” technique was applied to purposefully correct PTS. All osteotomies were fixed using a standard locking AO Tomofix plate with 3 proximal screws and 4 distal screws. Pre- and post-HTO proximal tibia plateau orientations were collected using eight OptiTrack motion capture cameras as an adjunct to tibial slope measures completed through radiographic analysis. Three rigid body marker triads were used: distally along the anterior midline of tibia, medial superior articular surface, and the fixture frame. Post-HTO, the independent observers again measured PTS with the circle method. Change in tibial slope data was averaged among radiograph reviewers and compared to motion capture data. A one-way ANOVA statistical analysis was completed.Results:PTS as measured by reviewers before and after HTO using the “circle method” and the motion capture analysis of the change in orientation of the tibial plateau are reported in Table 1. For all specimens, the posterior tibial slope decreased by 1.77 degrees (+/- 3.2). There was no statistically significant difference in change of tibial slope amongst all techniques, measured by lateral radiographs or motion capture analysis.Conclusions:There was no statistical difference in the change in posterior tibial slope across treatment types. Reviewer calculations of tibial slope using the circle technique was not different from measures observed through high resolution motion capture. No difference in the change in PTS may allow surgeons to select the technique that they feel most comfortable using on their patient with less concern of causing changes in the PTS and sagittal instability during an HTO. Additionally, this may allow for versatility in the event that patient anatomical characteristics interfere or impede the use of a specific technique. Future studies incorporating pre- and post-CT data to quantify hinge fracture and further characterize slope are underway.Figure 1.Techniques used for fixation after medial opening wedge HTO. A) "L" B) "Inverse L" C) "L with Flex" D) "Inverse L with Flex" The green line describes the direction of the coronal cut defining the regular L from Inverse L technique.Figure 2."Flex" technique for maintaining posterior tibial slope in medial opening wedge high tibial osteotomy. Following osteotomy, the plate is secured proximal with the distal end purposefully positioned anterior along the tibial cortex (A). The plate is then reduced to the tibial shaft and secured, with obligatory asymmetric posterior gap relative to the anterior gap (B).Table 1.PTS angles pre- and post-HTO as measured by three independent reviewers. The table includes the change in slope as calculated from reviewer measures and the OptiTrack motion capture system. All angles are in degrees.

Elephants evolved strategies reducing the biomechanical complexity of their trunk

The elephant proboscis (trunk), which functions as a muscular hydrostat with a virtually infinite number of degrees of freedom, is a spectacular organ for delicate to heavy object manipulation as well as social and sensory functions. Using high-resolution motion capture and functional morphology analyses, we show here that elephants evolved strategies that reduce the biomechanical complexity of their trunk. Indeed, our behavioral experiments with objects of various shapes, sizes, and weights indicate that (1) complex behaviors emerge from the combination of a finite set of basic movements; (2) curvature, torsion, and strain provide an appropriate kinematic representation, allowing us to extract motion primitives from the trunk trajectories; (3) transport of objects involves the proximal propagation of an inward curvature front initiated at the tip; (4) the trunk can also form pseudo-joints for point-to-point motion; and (5) the trunk tip velocity obeys a power law with its path curvature, similar to human hand drawing movements. We also reveal with unprecedented precision the functional anatomy of the African and Asian elephant trunks using medical imaging and macro-scale serial sectioning, thus drawing strong connections between motion primitives and muscular synergies. Our study is the first combined quantitative analysis of the mechanical performance, kinematic strategies, and functional morphology of the largest animal muscular hydrostat on Earth. It provides data for developing innovative "soft-robotic" manipulators devoid of articulations, replicating the high compliance, flexibility, and strength of the elephant trunk. VIDEO ABSTRACT.

Sensor-Guided Assembly of Segmented Structures with Industrial Robots

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in the assembly process: panel localization and pick-up, panel transport, and panel placement. Multiple stationary and robot-mounted cameras provide information for localization and alignment. A robot wrist-mounted force/torque sensor enables gentle but secure panel pick-up and placement. Human-assisted path planning ensures reliable collision-free motion of the robot with a large load in a tight space. A finite state machine governs the process flow and user interface. It allows process interruption and return to the previous known state in case of error condition or when secondary operations are needed. For performance verification, a high resolution motion capture system provides the ground truth reference. An experimental testbed integrating an industrial robot, vision and force sensors, and representative laminated composite panels demonstrates the feasibility of the proposed assembly process. Experimental results show sub-millimeter placement accuracy with shorter cycle times, lower contact force, and reduced panel oscillation than manual operations. This work demonstrates the versatility of sensor guided robotic assembly operation in a complex end-to-end tasks using the open source Robot Operating System (ROS) software framework.

Are You on My Wavelength? Interpersonal Coordination in Dyadic Conversations

Conversation between two people involves subtle nonverbal coordination in addition to speech. However, the precise parameters and timing of this coordination remain unclear, which limits our ability to theorize about the neural and cognitive mechanisms of social coordination. In particular, it is unclear if conversation is dominated by synchronization (with no time lag), rapid and reactive mimicry (with lags under 1 s) or traditionally observed mimicry (with several seconds lag), each of which demands a different neural mechanism. Here we describe data from high-resolution motion capture of the head movements of pairs of participants (n = 31 dyads) engaged in structured conversations. In a pre-registered analysis pathway, we calculated the wavelet coherence of head motion within dyads as a measure of their nonverbal coordination and report two novel results. First, low-frequency coherence (0.2–1.1 Hz) is consistent with traditional observations of mimicry, and modeling shows this behavior is generated by a mechanism with a constant 600 ms lag between leader and follower. This is in line with rapid reactive (rather than predictive or memory-driven) models of mimicry behavior, and could be implemented in mirror neuron systems. Second, we find an unexpected pattern of lower-than-chance coherence between participants, or hypo-coherence, at high frequencies (2.6–6.5 Hz). Exploratory analyses show that this systematic decoupling is driven by fast nodding from the listening member of the dyad, and may be a newly identified social signal. These results provide a step towards the quantification of real-world human behavior in high resolution and provide new insights into the mechanisms of social coordination.

Investigation of Lateral Column Lengthening Osteotomy on the Movement of the Calcaneus: A Cadaveric Study

Category:HindfootIntroduction/Purpose:Lateral column lengthening calcaneus osteotomy has been used widely in treating Stage IIB flexible flatfoot deformity in order to shift the anterior segment of the calcaneus forwards, which improves the coverage of the talonavicular joint by forefoot adduction. The premise of this investigation is that in addition to shifting the forefoot anteriorly around the axis of the talar head, there is also a posterior translation of the tuberosity of the calcaneus which is detrimental in that the angle of Gissane then impinges upon the posterior facet of the subtalar joint causing pain. Our hypothesis is that in addition to anterior translation of the calcaneus, posterior shift of the calcaneal tuberosity occurs with lengthening osteotomy of the calcaneus.Methods:An acute cadaveric flatfoot model was created on 5 fresh frozen cadaver feet with no previous foot and ankle deformity. In order to simulate the surgical scenario, the study was performed with no external load on the limb. A vertical osteotomy was performed 1 cm posterior of the calcaneocuboid joint. Commercially available precut wedges of 6 mm, 8 mm, 10 mm, and 12 mm were used for lateral column lengthening. After the insertion of the bone grafts, positional changes in sagittal plane of both the anterior and posterior calcaneus segments were monitored on lateral views under both fluoroscopy and a 3D digital high-resolution motion capture system. Results were calculated in percentage change from the base line horizontal distance between the talar and both anterior and posterior calcaneus markers before insertion of the wedges.Results:According to fluoroscopic measurements, the anterior translation of the anterior calcaneus segment was 7.27%+/-0.06 for 6 mm wedge, 16.11%+/-0.06 for 8 mm wedge, 20.81%+/- 0.08 for 10 mm wedge and 18.16%+/-0.07 for 12 mm wedge. The posterior translation of the posterior calcaneus segment was 9.85%+/-0.09 for 6 mm wedge, 13.15%+/-0.09 for 8 mm wedge, 12.04+/-0.09 for 10 mm wedge, and 14.06%+/-0.10 for 12 mm wedge. Statistical analysis showed that: 6 mm wedges did not cause significant changes in the translation of both anterior and posterior calcaneus segments with respect to the talus. 8 mm, 10 mm and 12 mm wedges caused significant translations both anteriorly and posteriorly. There was no statistically significant difference in the amount of either anterior or posterior translation caused by 8 mm, 10 mm or 12 mm wedges. These results were corroborated by 3D measurements.Conclusion:Of interest is that a 6 mm graft did not cause any significant anterior or posterior shift of the calcaneus. Lateral column lengthening with the 8,10, and 12 mm grafts however caused forward shifting of the anterior calcaneus, but also statistically significant posterior translation of the tuberosity, causing impingement of the posterior facet which was visible in each cadaver tested. There was no statistical difference between the sizes of the wedge above 6 mm and the translations they caused either anteriorly or posteriorly. Surgeons should be aware of the potential for painful impingement with the lateral column lengthening osteotomy.

A computational investigation of lift generation and power expenditure of Pratt's roundleaf bat (Hipposideros pratti) in forward flight.

The aerodynamic mechanisms of bat flight have been studied using a numerical approach. Kinematic data acquired using a high resolution motion capture system was employed to simulate the unsteady air flow around a bat’s wings. A flapping bat wing contains many degrees of freedom, which make 3D motion tracking challenging. In order to overcome this challenge, an optical motion capture system of 21 cameras was used to reduce wing self-occlusion. Over the course of a meter-long flight, 108 discrete marker points on the bat’s wings (Pratt’s roundleaf bat, Hipposideros pratti) were tracked. The time evolution of the surface of each wing was computationally reconstructed in 3D space. The resulting kinematic model was interfaced with an unsteady incompressible flow solver using the immersed boundary method (IBM) and large eddy simulation (LES). Verification and validation of the flow simulation were conducted to establish accuracy. The aerodynamic forces calculated from the simulation compared well to the forces theoretically needed to sustain the observed flight trajectory. The transient flow field generated by the simulation allowed for the direct calculation of lift, drag, and power output of the bat during flight. The mean lift coefficient was found to be 3.21, and the flap cycle averaged aerodynamic power output was 1.05 W. Throughout the flap cycle, the planform area of the wings varied up to 46% between the largest and smallest values. During the upstroke, wing rotation was found to mitigate negative lift thereby improving overall flight efficiency. The high resolution motion capture and flow simulation framework presented here has the potential to facilitate the understanding of complex bat flight aerodynamics for both straight and maneuvering flight modes.

Three-Dimensional Analysis of Fibular Motion After Fixation of Syndesmotic Injuries With a Screw or Suture-Button Construct

Suture-button constructs are an alternative to screw fixation for syndesmotic injuries, and proponents advocate that suture-button constructs may allow physiological motion of the syndesmosis. Recent biomechanical data suggest that fibular instability with syndesmotic injuries is greatest in the sagittal plane, but the design of a suture-button construct, being a rope and 2 retention washers, is most effective along the axis of the rope (in the coronal plane). Some studies report that suture-button constructs are able to constrain fibular motion in the coronal plane, but the ability of a tightrope to constrain sagittal fibular motion is unknown. The purpose of this study was to assess fibular motion in response to an external rotation stress test in a syndesmotic injury model after fixation with a screw or suture-button constructs. Eleven fresh-frozen cadaver whole legs with intact tibia-fibula articulations were secured to a custom fixture. Fibular motion (coronal, sagittal, and rotational planes) in response to a 6.5-Nm external rotation moment applied to the foot was recorded with fluoroscopy and a high-resolution motion capture system. Measures were taken for the following syndesmotic conditions: intact, complete lateral injury, complete lateral and deltoid injury, repair with a tetracortical 4.0-mm screw, and repair with a suture button construct (Tightrope; Arthrex, Naples, FL) aimed from the lateral fibula to the anterior medial malleolus. The suture-button construct allowed significantly more sagittal plane motion than the syndesmotic screw. Measurements acquired with mortise imaging did not detect differences between the intact, lateral injury, and 2 repair conditions. External rotation of the fibula was significantly increased in both injury conditions and was not restored to intact levels with the screw or the suture-button construct. A single suture-button placed from the lateral fibula to the anterior medial malleolus was unable to replicate the motion observed in the intact specimen when subjected to an external rotation stress test and allowed significantly more posterior motion of the fibula than when fixed with a screw in simulated highly unstable injuries. Fixation of a syndesmotic injury with a single suture-button construct did not restore physiological fibular motion, which may have implications for postoperative care and clinical outcomes.

Evaluating the microsoft kinect skeleton joint tracking as a tool for home-based physiotherapy

Abstract In physiotherapy, rehabilitation outcome is majorly dependent on the patient to continue exercises at home. To support a continuous and correct execution of exercises composed by the physiotherapist it is important that the patient stays motivated. With the emergence of game consoles such as Nintendo Wii, PlayStation Eye or Microsoft Kinect that employ special controllers or camera based motion recognition as means of user input those technologies have also been found to be interesting for other real-life applications such as providing individual physiotherapy exercises and an encouraging rehabilitation routine. Due to the intended use of those motion tracking systems in a computer-game environment it remains questionable if the accuracy of the skeleton joint tracking hardware and algorithms is suflicient for physiotherapy applications. We present a basic evaluation of the joint tracking accuracy where angles between various body extremities calculated by a Kinect system were compared with a high resolution motion capture system. Results show promising results with tracking deviations between 2.7° and 14.2° with a mean of the absolute deviations of 8.7°.

Spatial and Temporal Linearities in Posed and Spontaneous Smiles

Creating facial animations that convey an animator’s intent is a difficult task because animation techniques are necessarily an approximation of the subtle motion of the face. Some animation techniques may result in linearization of the motion of vertices in space (blendshapes, for example), and other, simpler techniques may result in linearization of the motion in time. In this article, we consider the problem of animating smiles and explore how these simplifications in space and time affect the perceived genuineness of smiles. We create realistic animations of spontaneous and posed smiles from high-resolution motion capture data for two computer-generated characters. The motion capture data is processed to linearize the spatial or temporal properties of the original animation. Through perceptual experiments, we evaluate the genuineness of the resulting smiles. Both space and time impact the perceived genuineness. We also investigate the effect of head motion in the perception of smiles and show similar results for the impact of linearization on animations with and without head motion. Our results indicate that spontaneous smiles are more heavily affected by linearizing the spatial and temporal properties than posed smiles. Moreover, the spontaneous smiles were more affected by temporal linearization than spatial linearization. Our results are in accordance with previous research on linearities in facial animation and allow us to conclude that a model of smiles must include a nonlinear model of velocities.

Using a high resolution motion capture system to determine 6-DOF whole-body vibration accelerations

Using a high resolution motion capture system to determine 6-DOF whole-body vibration accelerations

A Sonification Tool For The Analysis of Large Databases of Expressive Gesture

Expert musical performance is rich with movements that facilitate performance accuracy and expressive communication. Studying these movements quantitatively using high-resolution motion capture systems has been fruitful, but analysis is arduous due to the size of the data sets and performance idiosyncrasies. Compared to visual-only methods, sonification provides an interesting alternative that can ease the process of data analysis and provide additional insights. To this end, a sonification tool was designed in Max/MSP that provides interactive access to synthesis mappings and data preprocessing functions that are specific to expressive movement. The tool is evaluated in terms of its ability to fulfil the goals of sonification in this domain and the goals of expressive movement analysis more generally. Additional benefits of sonification are discussed in light of the expressive and musical context.

Gait analysis to classify external load conditions using linear discriminant analysis

There are many instances where it is desirable to determine, at a distance, whether a subject is carrying a hidden load. Automated detection systems based on gait analysis have been proposed to detect subjects that carry hidden loads. However, very little baseline gait kinematic analysis has been performed to determine the load carriage effect while ambulating with evenly distributed (front to back) loads on human gait. The work in this paper establishes, via high resolution motion capture trials, the baseline separability of load carriage conditions into loaded and unloaded categories using several standard lower body kinematic parameters. A total of 23 participants (19 for training and 4 for testing) were studied. Satisfactory classification of participants into the correct loading condition was achieved by employing linear discriminant analysis (LDA). Six lower body kinematic parameters including ranges of motion and path lengths from the phase portraits were used to train the LDA to discriminate loaded and unloaded walking conditions. Baseline performance from 4 participants who were not included in training data sets show that the use of LDA provides a 92.5% correct classification over two loaded and unloaded walking conditions. The results suggest that there are gait pattern changes due to external loads, and LDA could be applied successfully to classify the gait patterns with an unknown load condition.