Platform Axis Research Articles

A method for manipulating a movable platform's axes of rotation: A novel use of the CAREN system

The functionality of movable platforms used in human balance studies is limited as they allow rotations around pre-defined axes, which typically run close to the platform's surface and so cannot be used to directly investigate control mechanisms of proximal joints. A new six degrees of freedom platform (CAREN, Motek, Amsterdam) is now available which in principle could be programmed to rotate around any axis of rotation. The location of the default axes of rotation for this device are not documented and the algorithm to move the axes has not yet been defined. The purpose of this study was to (1) locate the platform's default axes of rotation, (2) implement an algorithm for relocating its axes of rotation and (3) evaluate the algorithm. A simplified method was developed to locate the bounding rectangles within which the default axes of rotations were located. The three axes of rotation were found to be at x=1.13+/-0.69 mm, z=-204.22+/-0.63 mm in the roll plane, y=-2.67+/-0.59 mm, z=-211.38+/-0.63 mm in the pitch plane and x=0.43+/-0.70 mm, y=-4.72+/-0.65 mm in the yaw plane (X: left, Y: rear, Z: up), relative to the centre of its surface, with the maximum bounding rectangle of dimensions 2.50mm by 2.42 mm. Relocation of the platform's axes of rotation was achieved by the use of compensatory corrections, which were determined using a translation algorithm. Evaluation of the algorithm involved pitching the platform around three newly defined axes in the sagittal plane, representing the ankle, knee and hip joints. The platform was able to rotate around the new axes while keeping the instantaneous axes of rotation within bounding rectangles of 1.87 mm x 0.81 mm (ankle), 3.04 mm x 1.23 mm (knee), 3.14 mm x 1.63 mm (hip). The ability to overcome the limitation of other moveable platforms makes the CAREN system a valuable tool in research on the role of individual joints in balance.

Measurements of potential differences in human subjects induced by motion in a superconducting magnetic field.

We have attempted to measure the electromotive forces (emfs) induced in human beings moving at a constant speed in a highly dense magnetic field. Experiments were initially conducted on a set of models, and then directly on human subjects. The models consisted of single circular loops of Tygon tubing (I.D., 0.635 cm; O.D., 0.9525 cm) filled with normal saline solution, with circumferences of 20, 40, 60, 80, and 100 cm. The models were connected to an amplifier via silver/silver-chloride electrodes. Each saline loop was mounted on a movable platform, with the plane of the loop perpendicular to the platform's axis; the platform was enabled to move at known constant speeds into and out of the bore of a 1.89-T magnet. The human subjects were then substituted for the saline loops, with the long axis parallel to the direction of motion, and with standard EKG electrodes placed at 180 degrees successively on the ankle, calf, lower thigh, upper thigh, chest, and head. In all cases, for human subjects and models, the peak induced voltage was directly proportional to the speed of movement and the square of the circumference of the bounded cross-sectional areas. Thus, for the saline loops, the correlation coefficient between induced voltage and circumference was .998, and for human subjects, .947. Under the loose assumption that for equal circumferences the bounded areas in human subjects were equal to those in the circular loops, the induced emfs in human subjects were consistently about 13% greater than those in the loops. At a mean speed of 1.18 m/s, the chest had a peak induced voltage of 260 mV, while the voltage at the ankle had a peak of 19.8 mV. The experimental data were used to estimate the corresponding induced-current density at the pericardium, 17 mA/m2. We conclude for a human subject moving at constant speed along the body's long axis into a magnetic field that Faraday's law is closely followed for various cross-sections of the body. Further, in those cases in which the magnetic field and its gradient are not well-established, one can use saline-filled loops to estimate approximate values of voltages induced in human subjects.