Differential actigraphy for monitoring asymmetry in upper limb motor activities.

Most applications of accelerometry-based actigraphy require a single sensor, properly located onto the body, to estimate, for example, the level of activity or the energy expenditure. Some approaches adopt a multi-sensor setup to improve those analyses or to classify different types of activity. The specific case of two symmetrically placed actigraphs allowing, by some kind of differential analysis, for the assessment of asymmetric motor behaviors, has been considered in relatively few studies. This article presents a novel method for differential actigraphy, which requires the synchronized measurements of two triaxial accelerometers (programmable eZ430-Chronos, Texas Instruments, USA) placed symmetrically on both wrists. The method involved the definition of a robust epoch-related activity index and its implementation on-board the adopted programmable platform. Finally, the activity recordings from both sensors allowed us to define a novel asymmetry index AR24 h ranging from -100% (only the left arm moves) to +100% (only the right arm moves) with null value marking a perfect symmetrical behavior. The accuracy of the AR24 h index was 1.3%. Round-the-clock monitoring on 31 healthy participants (20-79 years old, 10 left handed) provided for the AR24 h reference data (range -5% to 21%) and a fairly good correlation to the clinical handedness index (r = 0.66, p < 0.001). A subset of 20 participants repeated the monitoring one week apart evidencing an excellent test-retest reliability (r = 0.70, p < 0.001). Such figures support future applications of the methodology for the study of pathologies involving motor asymmetries, such as in patients with motor hemisyndromes and, in general, for those subjects for whom a quantification of the asymmetry in daily motor performances is required to complement laboratory tests.

Bimanual non-congruent actions in motor neglect syndrome: a combined behavioral/fMRI study.

In Motor Neglect (MN) syndrome, a specific impairment in non-congruent bimanual movements has been described. In the present case-control study, we investigated the neuro-functional correlates of this behavioral deficit. Two right-brain-damaged (RBD) patients, one with (MN+) and one without (MN-) MN, were evaluated by means of functional Magnetic Resonance Imaging (fMRI) in a bimanual Circles-Lines (CL) paradigm. Patients were requested to perform right-hand movements (lines-drawing) and, simultaneously, congruent (lines-drawing) or non-congruent (circles-drawing) left-hand movements. In the behavioral task, MN- patient showed a bimanual-coupling-effect, while MN+ patient did not. The fMRI study showed that in MN-, a fronto-parietal network, mainly involving the pre-supplementary motor area (pre-SMA) and the posterior parietal cortex (PPC), was significantly more active in non-congruent than in congruent conditions, as previously shown in healthy subjects. On the contrary, MN+ patient showed an opposite pattern of activation both in pre-SMA and in PPC. Within this fronto-parietal network, the pre-SMA is supposed to exert an inhibitory influence on the default coupling of homologous muscles, thus allowing the execution of non-congruent movements. In MN syndrome, the described abnormal pre-SMA activity supports the hypothesis that a failure to inhibit ipsilesional motor programs might determine a specific impairment of non-congruent movements.

Does gait analysis change clinical decision-making in poststroke patients? Results from a pragmatic prospective observational study.

BACKGROUND: Gait analysis (GA) was demonstrated to change presurgical planning and improve gait outcomes in children with Cerebral Palsy. GA is often used also to assess walking capability of poststroke subjects, although its influence in the clinical management of these patients has not yet been established. OBJECTIVE: To assess the impact of GA on clinical decision-making in adult chronic poststroke patients. DESIGN: Pragmatic prospective observational study. SETTING: Rehabilitation hospital, both outpatients and inpatients. POPULATION: Forty-nine patients (age: 53.3±14.5 years) who had had a cerebrovascular accident 35.2±26.4 months before and were referred to the gait analysis service. METHODS: Recommendations of therapeutic treatments before and after the analysis of GA data were compared, together with the confidence level of recommendations on a 10-point scale. Frequency of changes of post-GA vs pre-GA recommendations were computed for each recommendation type: surgery, botulinum toxin (BT), orthotic management and physiotherapy. RESULTS: Based on the analysis of GA data, 71% of poststroke subjects had their treatment planning changed in some components. Indeed, 73% of patients with indications for surgery had their surgical planning changed; 81%, 37% and 32% had, respectively, their BT, orthotic and physiotherapy planning changed. Confidence level of recommendations increased significantly after GA, in both the whole group of patients (from 6.7±1.4 to 8.7±0.6, P<0.01) and the subgroup whose recommendations had not changed (7.0±1.5 vs. 8.8±0.4, P<0.01). CONCLUSION: GA significantly influences the therapeutic planning and reinforces decision-making for chronic poststroke patients. Further work should be done to better translate GA results into indications for specific physiotherapy. CLINICAL REHABILITATION IMPACT: The use of GA as a tool to better define the rehabilitation planning in post-stroke patients should be fostered, particularly when surgery or botulinum toxin are considered and/or the prescription of orthoses is hypothesised.

Postural stabilization and balance assessment in Charcot-Marie-Tooth 1A subjects.

The aim of the present study was to assess postural stabilization skill in adult subjects affected by Charcot-Marie-Tooth disease (CMT) type 1A. For this purpose ground reaction force (GRF) was measured by means of a piezoelectric force platform during the sit-to-stand (STS) movement, until a steady state erect posture was achieved. Specific indexes to quantify Centre of Mass acceleration, both during postural stabilization and during quiet standing, were computed using a mathematical model. Forty-seven CMT1A subjects were recruited for the study, and the control group was formed by forty-one age- and sex-matched healthy subjects. The results show that CMT1A subjects are less stable than controls during the quiet stance. Greater difficulty (high values of Yinf, the final instability rate) to maintain erect posture appears to be mainly associated with plantar-flexor muscle weakness, rather than to damage of the proprioceptive system. The worst performances shown by CMT1A subjects in the stabilization phase (high values of I, the global index of postural stabilization performance) seem to be associated with reduced muscle strength and the loss of large sensory nerve fibres. Distal muscle weakness appears to affect both postural stabilization and quiet erect posture. The presented protocol and the analysis of postural stabilization parameters provide useful information on CMT1A balance disorders.

Gait pattern classification in children with Charcot-Marie-Tooth disease type 1A.

Gait pattern classification may assist in clinical decision making and cluster analysis (CA) has been often adopted to this aim. The goal of this study was to identify, through CA, typical walking patterns in a group of 21 young subjects with CMT1A, a hereditary progressive neuropathy, and to study possible correlation with the disease's clinical status. The protocol included kinematic/kinetic analysis of natural walking and more demanding locomotor tasks, i.e. toe- and heel-walking. Hierarchical cluster analysis was carried out on parameters related to primary signs (foot-drop and push-off deficit) and, separately, to compensatory mechanisms at proximal (pelvis, hip and knee) or distal (ankle) level. CA on primary signs during natural walking identified three clusters: (1) pseudo-normal patients (PN), not significantly different from controls; (2) patients showing only foot-drop (FD); (3) patients with foot-drop and push-off deficit (FD&POD). Patients belonging to the PN subgroup showed distal abnormalities during heel-walking. The FD&POD subgroup was associated to a significantly worse clinical score (CMTES, p<0.05). The main compensatory strategies, which occurred independently from primary clusterization, included augmented hip/knee flexion in swing (steppage) and early ankle plantarflexion at mid stance (vaulting). We concluded that, although a number of young CMT1A patients do not show typical primary deviations during natural walking, they do show significant abnormalities in more demanding locomotor tasks that should be therefore considered. It is also hypothesized that progression of this degenerative condition may be associated to the migration of patients to more severe clusters, with possible appearance of compensatory strategies.

Reliability of instrumented movement analysis as outcome measure in Charcot-Marie-Tooth disease: results from a multitask locomotor protocol.

Some neurodegenerative diseases at early stage may not drastically affect basic gait ability, whereas more demanding locomotor tasks are more prone to disease-induced abnormalities. In this study, we evaluated the interday test-retest reliability, 4-6 weeks apart, of instrumented movement analysis on a group of 20 subjects with Charcot-Marie-Tooth (CMT) disease considering a set of kinematic and kinetic curves and related parameters obtained during natural walking (NW) and faster walking, heel and toe-walking, step ascending and descending. Results showed that the reliability was good for NW, with the exception of trunk curves, pelvic tilt and EMG profiles (moderate reliability), and trunk ROM in sagittal/transverse plane (poor reliability). Comparing our results with literature, CMT patients did not present a greater variability during NW than healthy subjects or patients with diseases of CNS. Additional locomotor tasks showed a slight reduction of reliability, although the moderate-to-good level shown in NW was almost never reduced to poor. Most of SEM values (absolute measurement errors) were smaller than 5°, a clinically acceptable threshold. In particular THS, an ankle joint related parameter computed across heel and toe-walking tasks, showed an optimal reliability (ICC=0.95, SEM=2.7°) and correlation with CMT clinical scores. Toe and heel-walking and step ascending tasks maximised the number of parameters with a moderate-to-good correlation with patients' clinical status. We concluded that, in addition to natural walking, more challenging locomotor tasks are good candidates to provide reliable and sensitive outcome measures for CMT patients.

[Evaluation of work-related biomechanical overload: techniques for the acquisition and analysis of surface EMG signal]. / Tecniche di acquisizione ed analisi del segnale elettromiografico per lo studio del sovraccarico biomeccanico occupazionale.

OBJECTIVES: The aim of this research was to obtain information concerning muscle fatigue and muscle activation levels by measuring quantitative parameters through the surface electromyographic signal, and use such information to integrate the OCRA (Occupational Repetitive Actions) method for risk assessment of upper limb biomechanical overload Along with the main risk factors associated with the development of work-related upper limb musculoskeletal disorders (UL WMSDs) like posture, movement, frequency of action and organizational factors, this method also takes into account the muscular effort. Unlike the other risk factors that can be directly measured during inspections on farms, muscular effort is currently estimated only via a subjective assessment scale (Borg CR-10 scale). METHODS: A new apparatus and new procedures were implemented for synchronized EMG and video acquisition, which guarantee a high degree of inter- and intra-subject repeatability, and an ad hoc software for data elaboration was developed They have been specifically designed for "on the field" applications. The methodology was first tested in the laboratory on a group of 12 healthy subjects, studying a repetitive task, running in two different ways, (high/low OCRA index) and interspersed with isometric tests for an indirect measurement of dynamic fatigue. The methodology was then tested in a working environment to compare the muscular effort required during the use of different types of tools for pruning. RESULTS: Results of the laboratory protocol showed onset of fatigue for Anterior Deltoid, Middle Deltoid and Brachial Triceps muscles only for the high-risk index mode, as demonstrated by the significance of the Bonferroni tests (p < 0.05) on MDF (Median Frequency) calculated from isometric tests. They also showed significant differences in terms of higher level of muscle activation, and thus required force, in the case of high OCRA index work task compared to the one at low risk (Wilcoxon, p < 0.05) for all analysed muscle groups with regard to 10th, 50th and 90th percentile of the APDF (Amplitude Probability Distribution Function). These results clearly defined the differences of subjectively perceived effort. The results of field" application showed that the tested protocol was also easily exportable to a real working environment and that the numerical parameters extracted from the EMG signal can be a useful tool for evaluating effort levels of different muscles of the upper limb and for comparing different work tools, through effort indexes referred to single muscles. CONCLUSIONS: It can therefore be concluded that by integrating the information about the 'FORCE' factor in the OCRA method, the calculated parameters may provide objective information useful in analyzing and designing ergonomic tools and workplaces.

Functional resources to increase gait speed in people with stroke: strategies adopted compared to healthy controls.

Thirty-nine adult individuals with stroke in the stable phase were asked to walk at their preferred speed and then as fast as possible. A set of gait indexes were computed, including spatial temporal parameters, ankle and hip mechanical work, and timing of ankle push-off onset, for comparison with normal velocity-dependent profiles. Algorithms were used to classify the resulting gait patterns when the patients walked at their preferred speed and fast and to identify the patients' strategies to maximise speed. Patients' strategies were characterised by a variation in the parameters, which were reduced, equal or increased, in relation to normal patterns. At both speeds, stroke individuals tended to walk at higher cadence and with shorter stride length. At the preferred speed the investigated parameters for all patients were mostly within the normal profile (71.8-94.9%). The exception was the finding of positive work at the ankle where 64% of the stroke individuals showed reduced work production. At fast speed (increments to 36%BH/s) fewer patients presented values within the normal profile for all the parameters (17.9-74.4%), with the exception of negative work at the ankle and hip. The parameter variations showed a more consistently abnormal picture. The results indicate that, in order to increase gait speed, patients with hemiparesis have different functional resources on which to draw, and these vary from individual to individual. Thus, gait analysis at different gait speed should be adopted to develop individualised programs that will improve quality of life for the patients.

The Medical Care Continuity (MCC) project. A pilot study of video-assisted home care within the eTEN European Community program. The Italian experience.

GOALS OF WORK: This study aimed to use an integrated system (Medical Care Continuity (MCC) system) consisting of computer, video telephone, and a high-definition camera to monitor at home chemotherapy side effects in cancer outpatients. PATIENTS AND METHODS: The system allowed 24 h/day video consultation with an intermediate medical call center with possible connection to a specialized hospital if necessary. All patients were provided with internationally validated and project-oriented questionnaires exploring patients' health status and opinions on usefulness and complexity of study devices. The content of each call was recorded on a computer database. An approximate estimate of avoided hospital admissions was calculated. MAIN RESULTS: Median duration of experimentation and frequency of patient/doctor contacts were 2.1 months and 4.2 contact per week, respectively. Overall, a 98% positive opinions on the experimental system was reported at the end of the study by all participants, with a 21% conversion rate with respect to the opinions gathered at study entry. Changes in patient management after a medical call were made in 32% of cases. It was calculated that approximately 2.2 per month unnecessary hospital admissions were avoided. CONCLUSIONS: The MCC system was well managed by both patients and caregivers. These results show that it has the potential to improve medical assistance by virtue of a constant access to medical advice and reduce unnecessary hospital admissions.

Influence of basal ganglia on upper limb locomotor synergies. Evidence from deep brain stimulation and L-DOPA treatment in Parkinson's disease.

Clinical evidence of impaired arm swing while walking in patients with Parkinson's disease suggests that basal ganglia and related systems play an important part in the control of upper limb locomotor automatism. To gain more information on this supraspinal influence, we measured arm and thigh kinematics during walking in 10 Parkinson's disease patients, under four conditions: (i) baseline (no treatment), (ii) therapeutic stimulation of the subthalamic nucleus (STN), (iii)L-DOPA medication and (iv) combined STN stimulation and L-DOPA. Ten age-matched controls provided reference data. Under baseline conditions the range of patients' arm motion was severely restricted, with no correlation with the excursion of the thigh. In addition, the arm swing was abnormally coupled in time with oscillation of the ipsilateral thigh. STN stimulation significantly increased the gait speed and improved the spatio-temporal parameters of arm and thigh motion. The kinematic changes as a function of gait speed changes, however, were significantly smaller for the upper than the lower limb, in contrast to healthy controls. Arm motion was also less responsive after L-DOPA. Simultaneous deep brain stimulation and L-DOPA had additive effects on thigh motion, but not on arm motion and arm-thigh coupling. The evidence that locomotor automatisms of the upper and lower limbs display uncorrelated impairment upon dysfunction of the basal ganglia, as well as different susceptibility to electrophysiological and pharmacological interventions, points to the presence of heterogeneously distributed, possibly partially independent, supraspinal control channels, whereby STN and dopaminergic systems have relatively weaker influence on the executive structures involved in the arm swing and preferential action on those for lower limb movements. These findings might be considered in the light of phylogenetic changes in supraspinal control of limb motion related to primate bipedalism.

Effect of L-dopa and subthalamic nucleus stimulation on arm and leg swing during gait in Parkinson's Disease.

The effects of subthalamic nucleus (STN) stimulation and L-dopa administration on the arm and leg swing movements associated with overground walking were studied in a group of patients with idiopathic Parkinson's disease (PD). Ten patients undergoing deep brain stimulation and twenty controls were tested using 3D kinematic motion analysis. Parkinsonian patients under basal conditions walked more slowly and with reduced arm and leg swing compared to controls. Moreover, they displayed significant impairments of the normal interlimb coordination. Both STN stimulation and L-dopa increased the walking speed and the amplitude of arm and leg swing movements. Additional improvements of the coordination between upper and lower limb were documented by reductions of the phase-shift between arm and ipsilateral leg motion, with displacement toward the control range (perfect counterphase). STN stimulation alone and L-dopa alone produced similar effects on the variables analyzed. The combination of the two treatments, instead, yielded additive effects on the gait speed and a slight increase of the upper and lower limb range of motion, in the absence of further improvements in the inter-segmental coordination. Moreover, whereas the increased arm swing could be accounted by the sole adoption of a higher gait speed, both the increment of the leg movement amplitude and the decreased interlimb phase shift appeared to imply an additional effect, possibly related to the treatment. These results may suggest that differential supraspinal controls operate on the neural networks subserving upper and lower limb motion during human walking.

The association between impaired turning and normal straight walking in Parkinson's disease.

Turning whilst walking was investigated by gait analysis in a group of Parkinson's Disease (PD) patients with mild clinical impairment and no significant abnormalities in stride parameters and kinematics of steady-state, linear walking. Comparison with age-matched controls demonstrated that patients approached turns with a slower step and completed turning with a greater number of steps. Moreover, the normal cranio-caudal sequence, whereby rotation of the head toward the intended direction of travel is followed by rotation of the trunk, was replaced by nearly simultaneous rotation of head and trunk and decreased relative head excursion after the second turning step. The evidence of abnormal inter-segmental coordination during turning in mildly affected, normally walking patients suggests that task-specific pathophysiological mechanisms, not necessary related to basic locomotor deficits, underlie disturbed directional changes in PD. Furthermore, turning-related neural systems may be more vulnerable to functional impairments associated with PD, as compared with linear walking. Hierarchically higher control levels involved in the turning ability may explain the observed unexpected association.

Impact of subthalamic nucleus stimulation on the initiation of gait in Parkinson's disease.

The effects of subthalamic nucleus (STN) stimulation on the anticipatory postural actions associated with the initiation of gait were studied in ten patients with idiopathic Parkinson's disease undergoing therapeutic deep brain stimulation. Kinematic, dynamic and electromyographic analysis was performed before and while subjects were starting gait in response to an external cue. Effects of STN stimulation on the standing posture preceding the go signal included significant improvement of the vertical alignment of the trunk and shank, decrease of the hip joint moment, backward shift of the center of pressure (CoP) and reduction of abnormal tonic and/or rhythmic activity in the thigh and leg muscles. Responses to bilateral STN stimulation were more consistent than those evoked by unilateral stimulation. Moreover, comparison between postural changes induced by STN stimulation applied prior to the gait initiation cue and during simple quiet standing revealed more significant responses in the former condition. Effects on the actual gait initiation process included shortening of the imbalance phase, larger backward/lateral displacement of CoP and more physiological expression of the underlying anticipatory muscular synergy. Additional changes were shortening of the unloading phase, shortening of the first-swing phase and increase in the length of the first step. Results demonstrate substantial influence of STN stimulation on functionally basic motor control mechanisms. In particular, the evidence of more significant responses upon attention-demanding conditions and the remarkable effects on postural programmes sub-serving feed-forward regulation of the onset of complex multijoint movements, suggests a consistent action on postural sub-systems relying on cognitive data processing and internal models of body mechanics.

Experimental protocol for the kinematic analysis of the hand: definition and repeatability.

A quantitative and objective method based on the optoelectronic kinematic analysis of hand segments and on the calculation of global and partial parameters, which provide measures of the degree of long finger and thumb extension is proposed for the evaluation of the hand's voluntary range of motion and maximal opening of the fingers and thumb. To test the precision and repeatability of the method, the protocol was applied on 14 healthy subjects (28 hands). The proposed parameters are repeatable and show a precision between 5.5 degrees and 10.4 degrees (mean value: 7.3 degrees), comparable to values obtained with other methods. Advantages of the present approach include simultaneous analysis of all fingers, absence of cumbersome connecting cables and no need for individually customized devices. The method, also applied to the paretic hands of two hemiplegic stroke patients before and after electrical stimulation of the wrist and finger extensor muscles, has shown encouraging results for its clinical feasibility and utility in addition to functional tests.

Locomotor disorders in patients at early stages of Parkinson's disease: a quantitative analysis.

Several studies have been performed with automatic motion analysis techniques to investigated the locomotor disorders of patients with severe Parkinson's disease (PD). These are mainly related to steady-state walking. Aim of the present study was to investigate the presence and the degree of these disorders in patients at early stages of PD. For this purpose a group of patients with mild PD (H&Y < or =2) and a group of age-matched controls were assessed by means of multifactorial analysis of kinematic and kinetic variables, during the execution of the following motor tasks: steady-state walking, gait initiation and turning around an obstacle. Results showed that PD patients did not differ from controls in steady-state walking, while significant differences emerged in gait initiation and turning strategies. Main differences consisted in a limitation of the amplitude of the imbalance phase and of the first step, and, for the turning task, in a delayed initiation of the turning movement, with an altered head-trunk rotational strategy. It is concluded that patients in early stages of PD do not reveal, during steady state walking, consistent impairments of kinematic and kinetic patterns typical of severe PD patients. Nevertheless, they present significant alterations in transient conditions such as gait initiation and change of walking direction. The above results suggest that a quantitative analysis of locomotor tasks which imply the transition from one condition to another, could provide parameters useful for the characterization of early stage PD patients and, potentially, markers for a precox differential diagnosis respect other neurodegenerative diseases characterized by parkinsonisms.

Trans-femoral amputee gait: socket-pelvis constraints and compensation strategies.

The paper deals with the identification of motor strategies adopted by trans-femoral amputees to compensate for the constraints of hip motion induced by the interference of the socket with the pelvis and, particularly, with the ischial tuberosity. A group of 11 subjects with trans-femoral amputation, three of whom wore two different prostheses, giving a sample size of 14 cases, were studied by gait-analysis protocols: the present paper focuses on the pelvis-thigh kinematics at foot strike. The results showed that, at the prosthetic side, the hip is significantly less flexed and less extended, respectively, at the ipsilateral and contralateral foot strike. Moreover, the pelvis is significantly more anterior tilted at sound foot strike. The anterior step length showed a decreased sound limb anterior step in 12 out of 14 cases. The authors interpret these results as a combination of mechanical constraints and compensatory actions: the reduced prosthetic hip extension is determined by the mechanical constraint involved in the pelvis-socket interference; and the increased pelvis tilt and sound hip flexion occurring at the same time are compensating strategies, adopted by the amputees, in order to obtain a functional step length and symmetrical thigh inclinations. Those factors determine a gait pattern which is functional, only slightly slower than normal gait, and without any perceivable alterations. On the other hand, the authors show that the increased pelvis tilting necessarily overloads the lumbar tract of the spine and may be related to the frequent occurrence of low-back pain in amputee subjects, despite the positive functional gait recovery.

Procedure for the quantitative evaluation of motor disturbances in cerebellar ataxic patients.

Cerebellar ataxia is a complex motor disturbance that involves the planning and execution of movements and reduces movement accuracy and co-ordination. The quantification of ataxic signs is commonly realised through visual examination of motor tasks performed by the patient and assignment of scores to specific items composing the international co-operative ataxia rating scale (ICARS). The present work studied an experimental procedure to characterise specific aspects of motor disturbances in ataxia objectively. Four tests belonging to the ICARS were considered: walking, knee-tibia test, finger-to-nose and finger-to-finger test. Through a kinematic analysis performed during the above tests, specific indices were defined to quantify velocity, linearity, asymmetry, tremor, instability and smoothness of movement or posture. The procedure was applied to five patients with cerebellar ataxia and to ten healthy adult subjects. Results demonstrated that the patients moved significantly more slowly than the healthy subjects (0.67 against 0.97m s(-1) and 0.81 against 1.02 m s(-1), respectively, for straight walk and finger-to-nose tests) and showed poorer linearity and smoothness behaviour. Velocity, linearity, tremor, smoothness and instability indices showed moderate to good correlation with the corresponding ICARS score. Some of these indices can separately evaluate aspects that are combined in single ICARS subscores. It is concluded that the combination of clinical assessments and instrumental evaluations allows a better insight into ataxic patients' motor disturbances and is a useful tool for the definition and follow-up of rehabilitation programmes.

Microprocessor-controlled optical stimulating device to improve the gait of patients with Parkinson's disease.

Different types of visual cue for subjects with Parkinson's disease (PD) produced an improvement in gait and helped some of them prevent or overcome freezing episodes. The paper describes a portable gait-enabling device (optical stimulating glasses (OSGs) that provides, in the peripheral field of view, different types of continuous optic flow (backward or forward) and intermittent stimuli synchronised with external events. The OSGs are a programmable, stand-alone, augmented reality system that can be interfaced with a PC for program set-up. It consists of a pair of non-corrective glasses, equipped with two matrixes of 70 micro light emitting diodes, one on each side, controlled by a microprocessor. Two foot-switches are used to synchronise optical stimulation with specific gait events. A pilot study was carried out on three PD patients and three controls, with different types of optic flow during walking along a fixed path. The continuous optic flow in the forward direction produced an increase in gait velocity in the PD patients (up to + 11% in average), whereas the controls had small variations. The stimulation synchronised with the swing phase, associated with an attentional strategy, produced a remarkable increase in stride length for all subjects. After prolonged testing, the device has shown good applicability and technical functionality, it is easily wearable and transportable, and it does not interfere with gait.

Kinematics of head-trunk movements while entering and exiting a car.

The study of free and natural accessibility movements for a medium-sized car was carried out, recording the motor performances of ten participants by means of a motion analysis system. The experimental protocol used passive markers to implement a two-segment biomechanical model for the analysis of the head-trunk complex. The kinematic variables quantify the motor patterns, and showed specific features that can be related to the individual anthropometric characteristics and to the car geometry differences: tall participants used a neck flexion and a leftwards bending of the head, while short participants extended the neck and bent the head to the right. The different seat positions (short participants move forwards the seat) along with the principal need to avoid any body interference with the car, can explain the observed strategies. From the wider analysis of the movements in relation to the vehicle's features and to the anthropometric size of the participants, this approach could lead to an extension of the design criteria for those structural components of the car which have been demonstrated to significantly influence the human-machine interaction.

Real-time human motion estimation using biomechanical models and non-linear state-space filters.

In the field of sports biomechanics and rehabilitation engineering, the possibility of computing, in real time, the angular displacements and derivatives of human joints, from a video of motion sequences, represents an appealing goal. In particular, applications of biofeedback protocols in rehabilitation can benefit from this capability. The focus of the investigation was concerned with the application of biomechanical models, comprising of a kinematic chain and surface envelopes, and state-space filters, to the computation, in real time and with high accuracy, of the angular data and derivatives. By minimising the distances, measured with TV cameras, between the 2D marker projections and the corresponding back-projected markers located on the mannequin, the configuration of the biomechanical model was automatically updated. The use of state-space estimation allowed the computation of smooth derivatives of the orientation data. Owing to the non-linearity of the functions involved, the derivatives of the observation model were obtained through a multidimensional extension of Stirling's interpolation formula. Proper algorithms were developed to cope with the model calibration, initialisation and data labelling. Extensive experiments on real and simulated motions proved the reliability (maximum angular error less than 1 degree, maximum point reconstruction less than 1 mm) of the developed system, which is robust to false matching caused by marker occlusions. Moreover, orientation artifacts due to skin motion can be reduced by a factor of 50%.