Assessing Postural Stability Via the Correlation Patterns of Vertical Ground Reaction Force Components

Background Many methods have been proposed to assess the stability of human postural balance by using a force plate. While most of these approaches characterize postural stability by extracting features from the trajectory of the center of pressure (COP), this work develops stability measures derived from components of the ground reaction force (GRF). Methods In comparison with previous GRF-based approaches that extract stability features from the GRF resultant force, this study proposes three feature sets derived from the correlation patterns among the vertical GRF (VGRF) components. The first and second feature sets quantitatively assess the strength and changing speed of the correlation patterns, respectively. The third feature set is used to quantify the stabilizing effect of the GRF coordination patterns on the COP. Results In addition to experimentally demonstrating the reliability of the proposed features, the efficacy of the proposed features has also been tested by using them to classify two age groups (18–24 and 65–73 years) in quiet standing. The experimental results show that the proposed features are considerably more sensitive to aging than one of the most effective conventional COP features and two recently proposed COM features. Conclusions By extracting information from the correlation patterns of the VGRF components, this study proposes three sets of features to assess human postural stability during quiet standing. As demonstrated by the experimental results, the proposed features are not only robust to inter-trial variability but also more accurate than the tested COP and COM features in classifying the older and younger age groups. An additional advantage of the proposed approach is that it reduces the force sensing requirement from 3D to 1D, substantially reducing the cost of the force plate measurement system

Inferred Influence of Human Lateral Profile on Limb Load Asymmetry during a Quiet Standing Balance Test

Although the identification and characterisation of a participant's lateral profile during quiet standing have not received much research attention, they have the potential to greatly extend our understanding of upright stance stability control. This study further examines limb load asymmetries during quiet bipedal stance. During voluntary frontal-plane weight shifting for 2 min, 300 centre-of-pressure displacements on 14 blindfolded right-handed young adults were recorded. Four biomechanical indices were used to assess postural behaviour. These were the bias of time and the magnitude of the partial ground reaction forces from both legs, and the bias in the number and magnitude of microshifts influencing stability. Our study identifies a significant level of asymmetry in the quiet bipedal stance of right-handed people. This asymmetry is associated with the right-sided bias of the ground reaction force and the angle of inclination to the upright (vertical) centroidal line. We found that the initial lateralisation of the partial ground reaction forces from both feet, as well as the period of ground reaction force bias, are important elements in any clinical tests involving quiet bipedal stance.</p

An investigation into the impact of coaching strategies with respect to physical and performance characteristics of male youth of varying biological maturation

This thesis will be presented as two standalone experimental chapters which will culminate in a thesis discussion linking the two papers under the overarching concept of maturation in male youth. Chapter 2 is currently under review in ‘Cogent Medicine’, and the intention of Chapter 2 is to identify physical, injury and performance-based differences between maturational groups within a general school-based population of 8 youth. These observed differences within Chapter 2 will then inform the methodology and coaching strategies utilised within Chapter 3, which will investigate the effectiveness of various coaching methods in order to maximise adaptation, motor ability and injury prevention within each maturational group. The outcome of this thesis hopes to inform practitioners as to how they can best implement their training programmes to maximise learning and adaptation across a range of biological maturation levels. Rather than just knowing when training should occur which has been investigated previously, it is hoped this thesis will provide insight into how coaching should occur to maximise learning within this diverse adolescent population. Due to the layout of this thesis with the individual papers, there is an element of content repetition throughout Chapters 1,2,3 and 4 which needs to be acknowledged, although the various contexts provides uniqueness throughout

Low-level finite state control of knee joint in paraplegic standing

Low-level finite state (locked-unlocked) control is compared with open-loop stimulation of the knee extensor muscles in functional electrical stimulation (FES) induced paraplegic standing. The parameters were: duration of standing, relative torque loss in knee extensor muscles, knee angle stability, average stimulus output and average arm effort during standing. To investigate the impact of external mechanical conditions on controller performance, experiments were performed both under the condition of a freely moving ankle joint and of a mechanically stabilized ankle joint. Finite state control resulted in a 2.5 to 12 times increase of standing duration or in a 1.5 to 5 times decrease of relative torque loss in comparison with open-loop stimulation. Finite state control induced a limit cycle oscillation in the knee joint. Average maximum knee flexion was 6.2° without ankle bracing, and half that value with ankle bracing. Average arm support was 13.9 and 7.5% of the body weight without and with ankle bracing respectively

Comparison of lower body segment alignment of elite level hockey players to age-matched non-hockey players

Master's Project (M.A.) University of Alaska Fairbanks, 2015Lower body overuse and insidious onset injuries are thought to have an underlying biomechanical component which may be predisposing to injury. The purpose of this study was to compare lower body biomechanical characteristics for elite hockey players to matched controls. I hypothesize that elite hockey players have a greater degree of anterior pelvic tilt, greater varus knee angle, a higher foot arch and feet held in parallel more during gait than a matched non-skating population. Measures were taken of elite level, college aged, male hockey players and compared to cross country runners (ten subjects in each group) who served as controls for trunk angle, pelvic tilt angle, knee alignment, (varus/valgus angle), foot angle, arch index (arch height), hip, center of range of motion, hip external rotation, hip internal rotation, hip total range of motion (ROM), knee transverse plane ROM, and step width. The results obtained support the hypothesis for anterior pelvic tilt and foot angle during gait. Although knee angle was in the expected varus direction it was not significant and no differences were observed in the foot arch between the groups. All other measurements not directly related to the hypothesis were not significantly different with the exception of mean step width. The obtained results are important as recent literature describes a lower body posture of medial collapse into "dynamic valgus" as being predisposing to injury. Results show, on the spectrum from lower body varus to lower body valgus, hockey players are on the varus side of the spectrum in all attributes except arch height, which was similar in both populations. Since lower body alignment is thought to be coupled, this inconsistency appears contrary to the "medial collapse into dynamic valgus" model and may explain why foot orthotics and athletic shoes used as an injury intervention often fail

Dynamics simulation of human box delivering task

Thesis (M.S.) University of Alaska Fairbanks, 2018The dynamic optimization of a box delivery motion is a complex task. The key component is to achieve an optimized motion associated with the box weight, delivering speed, and location. This thesis addresses one solution for determining the optimal delivery of a box. The delivering task is divided into five subtasks: lifting, transition step, carrying, transition step, and unloading. Each task is simulated independently with appropriate boundary conditions so that they can be stitched together to render a complete delivering task. Each task is formulated as an optimization problem. The design variables are joint angle profiles. For lifting and carrying task, the objective function is the dynamic effort. The unloading task is a byproduct of the lifting task, but done in reverse, starting with holding the box and ending with it at its final position. In contrast, for transition task, the objective function is the combination of dynamic effort and joint discomfort. The various joint parameters are analyzed consisting of joint torque, joint angles, and ground reactive forces. A viable optimization motion is generated from the simulation results. It is also empirically validated. This research holds significance for professions containing heavy box lifting and delivering tasks and would like to reduce the chance of injury.Chapter 1 Introduction -- Chapter 2 Skeletal Human Modeling -- Chapter 3 Kinematics and Dynamics -- Chapter 4 Lifting Simulation -- Chapter 5 Carrying Simulation -- Chapter 6 Delivering Simulation -- Chapter 7 Conclusion and Future Research -- Reference

Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled humanoid where model inaccuracies, sensor noise and real-time computation requirements can be problematic. Using a reformulation of existing algorithms, we propose a simplification of the problem that allows to achieve real-time control. Momentum-based control is integrated in the task hierarchy and a LQR design approach is used to compute the desired associated closed-loop behavior and improve performance. Extensive experiments on various balancing and tracking tasks show very robust performance in the face of unknown disturbances, even when the humanoid is standing on one foot. Our results demonstrate that hierarchical inverse dynamics together with momentum control can be efficiently used for feedback control under real robot conditions.Comment: 21 pages, 11 figures, 4 tables in Autonomous Robots (2015

Postural destabilization induced by trunk extensor muscles fatigue is suppressed by use of a plantar pressure-based electro-tactile biofeedback

Separate studies have reported that postural control during quiet standing could be (1) impaired with muscle fatigue localized at the lower back, and (2) improved through the use of plantar pressure-based electro-tactile biofeedback, under normal neuromuscular state. The aim of this experiment was to investigate whether this biofeedback could reduce postural destabilization induced by trunk extensor muscles. Ten healthy adults were asked to stand as immobile as possible in four experimental conditions: (1) no fatigue/no biofeedback, (2) no fatigue/biofeedback, (3) fatigue/no biofeedback and (4) fatigue/biofeedback. Muscular fatigue was achieved by performing trunk repetitive extensions until maximal exhaustion. The underlying principle of the biofeedback consisted of providing supplementary information related to foot sole pressure distribution through electro-tactile stimulation of the tongue. Centre of foot pressure (CoP) displacements were recorded using a force platform. Results showed (1) increased CoP displacements along the antero-posterior axis in the fatigue than no fatigue condition in the absence of biofeedback and (2) no significant difference between the no fatigue and fatigue conditions in the presence of biofeedback. This suggests that subjects were able to efficiently integrate an artificial plantar pressure information delivered through electro-tactile stimulation of the tongue that allowed them to suppress the destabilizing effect induced by trunk extensor muscles fatigue

Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic. In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot. The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e. model uncertainty, estimation errors, etc). We propose a simplification of the optimization problem that allows us to decrease computation time enough to implement it in a fast torque control loop. We implement a momentum-based balance controller which shows robust performance in face of unknown disturbances, even when the robot is standing on only one foot. In a second experiment, a tracking task is evaluated to demonstrate the performance of the controller with more complicated hierarchies. Our results show that hierarchical inverse dynamics controllers can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.Comment: appears in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 201