The required coefficient of friction in Parkinson's disease: people with freezing of gait.

The required coefficient of friction (RCOF) is frequently reported in the literature as an indicator of slip propensity, a consequence of the collisional aspect of legged locomotion. Little is known about the RCOF in pathological gait. Therefore, this study aimed to quantify the RCOF in subjects with Parkinson's disease (PD) and freezing of gait (FOG) during the OFF-pharma phase, and to investigate the interplay between RCOF parameters and ankle kinematic and kinetic gait variables. Fourteen subjects with PD and 14 healthy age-matched subjects were instructed to walk barefoot at self-selected speed over a force platform. The RCOF curve was obtained as the ratio between the tangential and vertical ground reaction forces. Then, the following discrete variables were identified: P1COF (the peak at the loading response phase), V1COF (the valley at midstance phase) and P2COF (the peak at push-off phase). Stepwise multiple regressions were applied to observe the influence of the gait speed and ankle kinematic and kinetic gait variables on RCOF variables. In subjects with PD and FOG the gait speed is a predictor of the RCOF in the loading response phase; plantarflexion and the plantarflexion moment are strong predictors of the RCOF in midstance; finally, push-off power is a predictor of RCOF increasing in the push-off phase. These results characterized the biomechanical strategies adopted by subjects with PD and FOG during gait in order to avoid falls.

Three-dimensional kinematic analysis of upper and lower limb motion during gait of post-stroke patients

The aim of this study was to analyze the alterations of arm and leg movements of patients during stroke gait. Joint angles of upper and lower limbs and spatiotemporal variables were evaluated in two groups: hemiparetic group (HG, 14 hemiparetic men, 53 ± 10 years) and control group (CG, 7 able-bodied men, 50 ± 4 years). The statistical analysis was based on the following comparisons (P ≤ 0.05): 1) right versus left sides of CG; 2) affected (AF) versus unaffected (UF) sides of HG; 3) CG versus both the affected and unaffected sides of HG, and 4) an intracycle comparison of the kinematic continuous angular variables between HG and CG. This study showed that the affected upper limb motion in stroke gait was characterized by a decreased range of motion of the glenohumeral (HG: 6.3 ± 4.5, CG: 20.1 ± 8.2) and elbow joints (AF: 8.4 ± 4.4, UF: 15.6 ± 7.6) on the sagittal plane and elbow joint flexion throughout the cycle (AF: 68.2 ± 0.4, CG: 46.8 ± 2.7). The glenohumeral joint presented a higher abduction angle (AF: 14.2 ± 1.6, CG: 11.5 ± 4.0) and a lower external rotation throughout the cycle (AF: 4.6 ± 1.2, CG: 22.0 ± 3.0). The lower limbs showed typical alterations of the stroke gait patterns. Thus, the changes in upper and lower limb motion of stroke gait were identified. The description of upper limb motion in stroke gait is new and complements gait analysis.

Three-dimensional kinematic analysis of upper and lower limb motion during gait of post-stroke patients.

The aim of this study was to analyze the alterations of arm and leg movements of patients during stroke gait. Joint angles of upper and lower limbs and spatiotemporal variables were evaluated in two groups: hemiparetic group (HG, 14 hemiparetic men, 53 ± 10 years) and control group (CG, 7 able-bodied men, 50 ± 4 years). The statistical analysis was based on the following comparisons (P ≤ 0.05): 1) right versus left sides of CG; 2) affected (AF) versus unaffected (UF) sides of HG; 3) CG versus both the affected and unaffected sides of HG, and 4) an intracycle comparison of the kinematic continuous angular variables between HG and CG. This study showed that the affected upper limb motion in stroke gait was characterized by a decreased range of motion of the glenohumeral (HG: 6.3 ± 4.5, CG: 20.1 ± 8.2) and elbow joints (AF: 8.4 ± 4.4, UF: 15.6 ± 7.6) on the sagittal plane and elbow joint flexion throughout the cycle (AF: 68.2 ± 0.4, CG: 46.8 ± 2.7). The glenohumeral joint presented a higher abduction angle (AF: 14.2 ± 1.6, CG: 11.5 ± 4.0) and a lower external rotation throughout the cycle (AF: 4.6 ± 1.2, CG: 22.0 ± 3.0). The lower limbs showed typical alterations of the stroke gait patterns. Thus, the changes in upper and lower limb motion of stroke gait were identified. The description of upper limb motion in stroke gait is new and complements gait analysis.

Isomap transform for segmenting human body shapes.

Segmentation of the 3D human body is a very challenging problem in applications exploiting volume capture data. Direct clustering in the Euclidean space is usually complex or even unsolvable. This paper presents an original method based on the Isomap (isometric feature mapping) transform of the volume data-set. The 3D articulated posture is mapped by Isomap in the pose of Da Vinci's Vitruvian man. The limbs are unrolled from each other and separated from the trunk and pelvis, and the topology of the human body shape is recovered. In such a configuration, Hoshen-Kopelman clustering applied to concentric spherical shells is used to automatically group points into the labelled principal curves. Shepard interpolation is utilised to back-map points of the principal curves into the original volume space. The experimental results performed on many different postures have proved the validity of the proposed method. Reliability of less than 2 cm and 3° in the location of the joint centres and direction axes of rotations has been obtained, respectively, which qualifies this procedure as a potential tool for markerless motion analysis.

Method for the estimation of a double hinge kinematic model for the trapeziometacarpal joint using MR imaging.

In this paper, we propose a method to estimate the parameters of a double hinge model of the trapeziometacarpal joint (TMC) by MRI-based motion analysis. The model includes two non-orthogonal and non-intersecting rotation axes accounting for flexion-extension (F-E) and adduction-abduction (A-A). We evaluated the quality of the estimated model parameters in the prediction of the relative motion of the first metacarpal bone with respect to the trapezium. As a result, we obtained that: (a) the estimated location and orientation of the F-E and A-A axes were in agreement with previous in vitro studies, (b) the motion of the first metacarpal predicted by the 2 degrees of freedom (2DoF) model exhibits a maximum surface distance error in the range of about 2 mm and (c) four thumb postures at the boundary of the TMC range of motion are sufficient to provide a good estimation of the 2DoF TMC kinematic model and good reproducibility (~1.7 mm) of the real thumb motion at TMC level.

Comparison of protocols for walking and running kinematics based on skin surface markers and rigid clusters of markers.

The purpose of this study was to compare the two main types of marker sets for human body representation based on rigid clusters of markers and skin surface markers for measuring kinematics during walking and running. Velocity, body segment, and joint angle were considered in the comparison of both protocols. Six male athletes were studied during treadmill gait at 1.4 and 5.5 m/s and recorded with 8 high speed video cameras. The subjects used simultaneously both protocols in the same walking and running cycles, in order to compare the variability in the determination of the joint centers' positions and the joint angles calculated from each protocol. The three-way ANOVA results showed that the variability of the inter-markers distance in the skin surface protocol was higher than that in the rigid clusters of markers, as reported in the literature. However, no statistical differences between the protocols were found in the variability of the determination of the joint centers' positions. Therefore no advantage was verified to rigid cluster protocols even for the upper body segments. Another conclusion is that increases in velocity produced increases in variability of the joint centers' distances and increases in the maximum differences between the joint angles.

Dois métodos diferentes para análise cinemática dos movimentos de cabeça durante a coordenação viso-cefálica de lactentes / Two different methods for kinematic analysis of head movements relating to eye-head coordination in infants

CONTEXTUALIZAÇÃO: A análise cinemática é um método de avaliação quantitativa empregada em diferentes áreas de estudo. Na área do desenvolvimento motor, essa análise pode proporcionar uma melhor compreensão da aquisição e do desenvolvimento das habilidades motoras. OBJETIVOS: Desenvolver e comparar dois arranjos experimentais para análise cinemática dos movimentos de cabeça durante a coordenação viso-cefálica (CVC) em lactentes. MATERIAIS E MÉTODOS: Foram testados dois arranjos experimentais (A e B) que diferiam quanto ao número e posicionamento das câmeras, bem como quanto ao volume do sistema de calibração. RESULTADOS: A acurácia dos dois arranjos experimentais foi de 2,47mm, indicando que ambos podem fornecer uma reconstrução verossímil do movimento. As três câmeras usadas no arranjo B favoreceram a visualização de toda a amplitude do movimento por pelo menos uma das câmeras. Isso levou à melhora da análise qualitativa e à redução do tempo de processamento dos dados quantitativos, reduzindo-o em 33 por cento quando comparado ao arranjo A. Além disso, o arranjo B apresentou melhor relação custo-benefício. CONCLUSÕES: Ambos os arranjos são adequados para a análise cinemática dos movimentos de cabeça durante a CVC de lactentes, entretanto, o arranjo B é mais vantajoso. A metodologia do arranjo B pode ser empregada em estudos que investigam o movimento de cabeça de lactentes, sejam eles típicos ou atípicos. Os resultados de tais estudos poderão ser empregados para complementar a avaliação de lactentes de risco e, conseqüentemente, auxiliar na intervenção precoce destes.

BACKGROUND: Kinematic analysis is a method for quantitative assessment applied in different fields of study. In the field of motor development, this analysis may promote better understanding of the acquisition and development of motor skills. OBJECTIVE: To develop and compare two experimental set-ups for kinematic analysis of head movements relating to eye-head coordination (EHC) in infants. METHODS: Two experimental set-ups (A and B) were tested. They differed from each other regarding the numbers and locations of the cameras, and regarding the volume of the calibration system. RESULTS: The accuracy of the two experimental set-ups was 2.47mm, thus indicating that both can provide realistic reconstructions of the movement. The three cameras used in set-up B made it possible to view the full range of motion with at least one of the cameras. This led to improvement of the qualitative analysis and reduction of the time taken to process quantitative data, which was 33 percent shorter than seen with set-up A. In addition, set-up B presented a better cost-benefit relationship. CONCLUSIONS: Although both set-ups were adequate for kinematic analysis of head movements relating to EHC in infants, set-up B is more advantageous. The methodology for set-up B can be used in studies investigating head movements in either typical or atypical infants. The results from such studies could be used to complement assessments on at-risk infants and consequently could assist in implementing early interventions.

In vivo validation of a realistic kinematic model for the trapezio-metacarpal joint using an optoelectronic system.

This article analyzes a realistic kinematic model of the trapezio-metacarpal (TM) joint in the human thumb that involves two non-orthogonal and non-intersecting rotation axes. The estimation of the model parameters, i.e. the position and orientation of the two axes with respect to an anatomical coordinate system, was carried out by processing the motion of nine retroreflective markers, externally attached to the hand surface, surveyed by a video motion capture system. In order to compute the model parameters, prototypical circumduction movements were processed within an evolutionary optimization approach. Quality and reproducibility in assessing the parameters were demonstrated across multiple testing sessions on 10 healthy subjects (both left and right thumbs), involving the complete removal of all markers and then retesting. Maximum errors of less than 5 mm in the axis position and less than 6 degrees in the orientation were found, respectively. The inter-subject mean distance between the two axes was 4.16 and 4.71 mm for right and left TM joints, respectively. The inter-subject mean relative orientation between the two axes was about 106 and 113 degrees for right and left TM joints, respectively. Generalization properties of the model were evaluated quantitatively on opposition movements in terms of distance between measured and predicted marker positions (maximum error less than 5 mm). The performance of the proposed model compared favorably with the one (maximum error in the range of 7-8 mm) obtained by applying a universal joint model (orthogonal and intersecting axes). The ability of in vivo estimating the parameters of the proposed kinematic model represents a significant improvement for the biomechanical analysis of the hand motion.

Finger kinematic modeling and real-time hand motion estimation.

This paper describes methods and experimental studies concerned with quantitative reconstruction of finger movements in real-time, by means of multi-camera system and 24 surface markers. The approach utilizes a kinematic model of the articulated hand which consists in a hierarchical chain of rigid body segments characterized by 22 functional degrees of freedom and the global roto-translation. This work is focused on the experimental evaluation of a kinematical hand model for biomechanical analysis purposes. From a static posture, a completely automatic calibration procedure, based on anthropometric measures and geometric constraints, computes axes, and centers of rotations which are then utilized as the base of an interactive real-time animation of the hand model. The motion tracking, based on automatic marker labeling and predictive filter, is empowered by introducing constraints from functional finger postures. The validation is performed on four normal subjects through different right-handed motor tasks involving voluntary flexion-extension of the thumb, voluntary abduction-adduction of the thumb, grasping, and finger pointing. Performances are tested in terms of repeatability of angular profiles, model-based ability to predict marker trajectories and tracking success during real-time motion estimation. Results show intra-subject repeatability of the model calibration both to different postures and to re-marking in the range of 0.5 and 2 mm, respectively. Kinematic estimation proves satisfactory in terms of prediction capability (index finger: maximum RMSE 2.02 mm; thumb: maximum RMSE 3.25 mm) and motion reproducibility (R (2) coefficients--index finger: 0.96, thumb: 0.94). During fast grasping sequence (60 Hz), the percentage of residual marker occlusions is less than 1% and processing and visualization frequency of 50 Hz confirms the real-time capability of the motion estimation system.

Análise cinemática tridimensional do movimento de eqüinos em esteira rolante / Three-dimensional cinematic analysis of the horse movement in treadmill

Adaptou-se uma metodologia utilizada no estudo do movimento humano para analisar o movimento de eqüinos em esteira rolante de alto desempenho, construindo-se um sistema de calibração utilizando-se um teodolito eletrônico de alta precisão e calibradores que demarcavam o espaço ocupado pelo animal. Dessa forma, foram obtidas as coordenadas espaciais dos marcadores presentes nos calibradores, compondo o arquivo de calibração. Duas câmeras de vídeo (60Hz) foram posicionadas em vista lateral esquerda, distantes 5m da manta de rolagem da esteira a 1,8m de altura. As imagens foram enquadradas utilizando-se um monitor de vídeo. Para a validação do método, um membro da equipe movimentou, no espaço calibrado, uma haste rígida com marcadores fixados nas suas extremidades, distantes um do outro 43,8cm. Para a análise das imagens, utilizou-se o programa Dvideow, desenvolvido pelo Laboratório de Instrumentação para Biomecânica - UNICAMP. Após a reconstrução tridimensional das imagens utilizou-se um programa matemático para o cálculo do valor médio da distância entre os marcadores. Obteve-se, após a mensuração em 100 quadros, o valor médio de 43,7cm com coeficiente de variação de 0,8 por cento. Estes resultados mostram que a metodologia desenvolvida é precisa e adequada para o estudo da locomoção de eqüinos

A methodology used for the study of human movement was adapted to analyze the movement of equines in a high performance treadmill. An electronic high precision theodolite was used to construct a calibration system to demarcate the volume occupied by the animal. It was taken the three dimensions coordinates of each marker present in the calibrator, composing the calibration archive. Two video cameras (60 Hz) were located approximately 5m from the left lateral side of the treadmill at 1.8m height. The images had been fit using a video monitor. For the validation of the method, a member of the team moved into the calibrated space, a 43.8cm long rigid stick with markers settled in its extremities. For the analysis of the images, the Dvideow program developed by the Laboratório de Instrumentação para Biomecânica - UNICAMP was used. After the three-dimensional reconstruction of the images, the calculation of the distance between the markers of the stick was done in 100 frames. The mean was 43.7 cm with a variation coefficient of 0.8 percent. These results confirm that this methodology is precise and adequate for the study of the locomotion in horses

Utilização do sistema Dvideow na analise cinematica do alcance manual de lactentes / Utilization of the Dvideow system in kinematic analysis of infants reaching movements

A analise cinematica tem sido utilizada como metodo de avaliacao para aumentar os conhecimentos sobre aquisicao e o desenvolvimento do alcance manual em lactentes. Metodos: quatro lactentes com idade de 4 a 6 meses (5+- 0,816) serviram como modelos para a adaptacao dessa metodologia. A condicao experimental consistiuna apresentacao de um brinquedo, na altura dos ombros dos lactentes. As avaliacoes foram filmadas e analisadas pelo sistema Dvideow. Foram testados o numero e a localizacao das cameras e dos iluminadores, alem do posicionamento e tamanho dos marcadores. Resultados: foi necessario utilizar, no minimo, 3 cameras digitais. A fim de possibilitar uma analise simultanea de ambos os membros superiores, uma das cameras foi posicionada atras e acima dos lactentes, enquanto duas outras foram colocadas nas laterais direita e esquerda. Para garantir a reflexao dos marcadores, foi necessario iluminar o lactente indiretamente, pois a luz direta interferia em seu comportamento. Marcadores esfericos de 0,5 cm proporcionaram maior precisao durante a analise. Os resultados obtidos foram apresentados de acordo com a trajetoria linear e angular de 10 alcances avaliados. Conclusao: Essa metodologia permite a analise cinematica do movimento de lactentes, a qual pode ser extremamente util para a compreensao do alcance de lactentes saudaveis

A influencia da estimulacao eletrica funcional associada ao treinamento em esteira com suporte parcial de peso na marcha de Hemipareticos / Influence on hemiparetic patients gait abilities from electrial functional stimulation during treadmill training with partial weight support

Avaliar os efeitos do treino em esteira eletrica com suporte parcial de peso associado a estimulacao eletrica funcional na marcha de sujeitos hemiplegicos por meio da analise de variaveis espaco-temporais. Metodo: para tal proposito foi utilizado o sistema A1-B-A2,no qual A1 e A2 correspondem ao treinamento em esteira eletrica com suporte parcial de peso e B, ao mesmo treinamento associado a estimulacao eletrica funcional. participaram deste estudo dois pacientes hemiparetcos cronicos que foram submetidos a treinamento durante 45 minutos, tres vezes por semana durante 9 semanas...