Self-Tuning Extended Kalman Filter Parameters to Identify Ankle's Third-Order Mechanics.

The estimation of human ankle's mechanical impedance is an important tool for modeling human balance. This work presents the implementation of a parameter-estimation approach based on a state-augmented extended Kalman filter (AEKF) to infer the ankle's mechanical impedance during quiet standing. However, the AEKF filter is sensitive to the initialization of the noise covariance matrices. In order to avoid a time-consuming trial-and-error method and to obtain a better estimation performance, a genetic algorithm (GA) is proposed to best tune the measurement noise (Rk) and process noise covariances (Q) of the extended Kalman filter (EKF). Results using simulated data show the efficacy of the proposed algorithm for parameter-estimation of a third-order biomechanical model. Experimental validation of these results is also presented. They suggest that age is an influencing factor in the human balance.

Modulation of anticipatory postural activity for multiple conditions of a whole-body pointing task.

This is a study on associated postural activities during the anticipatory segments of a multijoint movement. Several previous studies have shown that they are task dependant. The previous studies, however, have mostly been limited in demonstrating the presence of modulation for one task condition, that is, one aspect such as the distance of the target or the direction of reaching. Real-life activities like whole-body pointing, however, can vary in several ways. How specific is the adaptation of the postural activities for the diverse possibilities of a whole-body pointing task? We used a classification paradigm to answer this question. We examined the anticipatory postural electromyograms for four different types of whole-body pointing tasks. The presence of task-dependent modulations in these signals was probed by performing four-way classification tests using a support vector machine (SVM). The SVM was able to achieve significantly higher than chance performance in correctly predicting the movements at hand (Chance performance 25%). Using only anticipatory postural muscle activity, the correct movement at hand was predicted with a mean rate of 62%. Because this is 37% above chance performance, it suggests the presence of postural modulation for diverse conditions. The anticipatory activities consisted of both activations and deactivations. Movement prediction with the use of the activating muscles was significantly better than that obtained with the deactivating muscles. This suggests that more specific modulations for the movement at hand take place through activation, whereas the deactivation is more general. The study introduces a new method for investigating adaptations in motor control. It also sheds new light on the quantity and quality of information available in the feedforward segments of a voluntary multijoint motor activity.

Tri-dimensional and triphasic muscle organization of whole-body pointing movements.

Previous kinematic and kinetic studies revealed that, when accomplishing a whole-body pointing task beyond arm's length, a modular and flexible organization could represent a robust solution to control simultaneously target pointing and equilibrium maintenance. Here, we investigated the underlying mechanisms that produce such a coordinative kinematic structure. We monitored the activity of a large number of muscles spread throughout subjects' bodies while they performed pointing movements beyond arm's length, either with or without imposition of postural or pointing constraints. Analyses revealed that muscle signals lied on a tri-dimensional hyper-plane and were temporally organized according to a triphasic pattern (three components, each one exhibiting one single peak of activation and the peaks being consecutive in time). Such a functional muscle synergy was found to be robust across conditions. Also the activities of the separate groups of muscles acting at each body joint resulted tri-dimensional. In particular, those associated with the muscles of the lower-body joints (ankle, knee and hip) always presented the three sequences in all conditions. However, a slightly different organization was found for the muscle activities of the upper-limb, suggesting a moderate level of flexibility of the activity of such muscles to movement constraints. The present findings link together, in a hierarchical view of motor control, the joint coordination characterizing whole-body pointing movements with a basic muscle synergistic organization, namely a triphasic pattern.