Time-Based and Path-Based Analysis of Upper-Limb Movements during Activities of Daily Living.

Patients after stroke need to re-learn functional movements required for independent living throughout the rehabilitation process. In the study, we used a wearable sensory system for monitoring the movement of the upper limbs while performing activities of daily living. We implemented time-based and path-based segmentation of movement trajectories and muscle activity to quantify the activities of the unaffected and the affected upper limbs. While time-based segmentation splits the trajectory in quants of equal duration, path-based segmentation isolates completed movements. We analyzed the hand movement path and forearm muscle activity and introduced a bimanual movement parameter, which enables differentiation between unimanual and bimanual activities. The approach was validated in a study that included a healthy subject and seven patients after stroke with different levels of disabilities. Path-based segmentation provides a more detailed and comprehensive evaluation of upper limb activities, while time-based segmentation is more suitable for real-time assessment and providing feedback to patients. Bimanual movement parameter effectively differentiates between different levels of upper limb involvement and is a clear indicator of the activity of the affected limb relative to the unaffected limb.

Compensation for Magnetic Disturbances in Motion Estimation to Provide Feedback to Wearable Robotic Systems.

The direction of the Earth's magnetic field is used as a reference vector to determine the heading in orientation estimation with wearable sensors. However, the magnetic field strength is weak and can be easily disturbed in the vicinity of ferromagnetic materials, which may result in inaccurate estimate of orientation. This paper presents a novel method for estimating and compensating for magnetic disturbances. The compensation algorithm is implemented within a kinematic-based extended Kalman filter and is based on an assessment of the magnetic disturbance and the change of orientation in each time step. The proposed algorithm was experimentally validated by measuring the orientation of a simple mechanical system with three degrees of freedom in an artificially disturbed magnetic field. The results of the experimental evaluation show that an Kalman filter algorithm that incorporates compensating for magnetic disturbances is capable of estimating the orientation with moderate error (the absolute median errors , ) when the Earth's magnetic field is disturbed by magnetic disturbance with a magnitude equal to twice the magnitude of the Earth's own magnetic field in different directions.

Asymmetry in sit-to-stand movement in patients following transtibial amputation and healthy individuals.

The aim of this study was to analyse the asymmetry of sit-to-stand (STS) movement in a group of subjects following unilateral transtibial amputation (STTA) and a group of healthy subjects (HSs). Experimental measurements investigated standing-up pattern from two seat heights and at three different speeds. Body motion was measured using an optical measuring system with active markers. Floor and seat reaction forces and moments were measured by two force plates and an integrated force-moment sensor. Analysis of ankle, knee, hip and trunk inclination angles shows that STTA perform STS movement with different initial foot placement than HS, resulting in different lower extremity loadings and larger trunk inclination. Asymmetry was defined as the difference between left and right extremity parameters averaged throughout STS movement. A root-mean-square error was used to assess the asymmetry in ground reaction forces and in ankle, knee and hip angles and moments. The influence of different seat heights and velocities on asymmetry was tested using one-way ANOVA. The asymmetry of STTA and HS was affected neither in kinematic nor in kinetic parameters. Performing STS at higher speeds was found to result in decreased trunk flexion. The asymmetry assessment, as determined in this study, can be used in rehabilitation for improving STS strategies or as an evaluation tool for estimating the progress of the rehabilitation process.