Master of Science

thesisGait analysis is an important tool for diagnosing a wide variety of disorders, with its increasingly accepted benefits culminating in the widespread adoption of motion analysis laboratories. A modern analysis laboratory consists of a multicamera marker tracking system for 3D reconstruction of kinematics and multiple high-fidelity load transducers to determine ground reaction force and enable inverse-dynamics for biomechanics. There is a need for an alternative motion analysis system which does not require a fixed laboratory setting and is lower in cost; freeing the motion capture from the laboratory and reducing the technology costs would enable long-term, home-based, natural monitoring of subjects. This thesis describes two contributions to the end goal of an inexpensive, mobile, insole-based motion analysis laboratory. First is the application of an inertialmeasurement-unit calibration routine and zero-velocity-update algorithm to improve position and orientation tracking. Second is the development, from basic sensor to prototype, of an insole capable of measuring 3 degree-of-freedom ground reaction force. These contributions represent a proof-of-concept that quantitative gait analysis, complete with dynamics, is possible with an insole-based system

Hip Joint Angles and Moments during Stair Ascent Using Neural Networks and Wearable Sensors

End-stage hip joint osteoarthritis treatment, known as total hip arthroplasty (THA), improves satisfaction, life quality, and activities of daily living (ADL) function. Postoperatively, evaluating how patients move (i.e., their kinematics/kinetics) during ADL often requires visits to clinics or specialized biomechanics laboratories. Prior work in our lab and others have leveraged wearables and machine learning approaches such as artificial neural networks (ANNs) to quantify hip angles/moments during simple ADL such as walking. Although level-ground ambulation is necessary for patient satisfaction and post-THA function, other tasks such as stair ascent may be more critical for improvement. This study utilized wearable sensors/ANNs to quantify sagittal/frontal plane angles and moments of the hip joint during stair ascent from 17 healthy subjects. Shin/thigh-mounted inertial measurement units and force insole data were inputted to an ANN (2 hidden layers, 10 total nodes). These results were compared to gold-standard optical motion capture and force-measuring insoles. The wearable-ANN approach performed well, achieving rRMSE = 17.7% and R2 = 0.77 (sagittal angle/moment: rRMSE = 17.7 ± 1.2%/14.1 ± 0.80%, R2 = 0.80 ± 0.02/0.77 ± 0.02; frontal angle/moment: rRMSE = 26.4 ± 1.4%/12.7 ± 1.1%, R2 = 0.59 ± 0.02/0.93 ± 0.01). While we only evaluated healthy subjects herein, this approach is simple and human-centered and could provide portable technology for quantifying patient hip biomechanics in future investigations

Use of performance indicators in the analysis of running gait impacts

[Summary] Foot-ground impact is a critical event during the running cycle. In this work, three performance indicators were used to characterize foot-ground impact intensity: the effective preimpact kinetic energy, representative elements of the effective mass matrix, and the critical coefficient of friction. These performance indicators can be obtained from the inertial properties of the biomechanical system and its pre-impact mechanical state, avoiding the need to carry out force measurements. Ground reaction forces and kinematic data were collected from the running motion of an adult that adopted both rear-foot and fore-foot strike patterns. Different running cycles were analysed and statistical tests performed. Results showed that the three proposed indicators are able to illustrate significant differences between fore-foot and rear-foot strike impacts. They also support the hypothesis that fore-foot strike reduces impact intensity. On the other hand, a higher likelihood of slipping during the contact onset is associated with fore-foot strike pattern.Ministerio de Economía y Competitividad (MINECO). JCI-2012-1237

Use of performance indicators in the analysis of running gait impacts

Foot-ground impact is a critical event during the running cycle. In this work, three performance indicators were used to characterize foot-ground impact intensity: the effective pre-impact kinetic energy, representative elements of the effective mass matrix, and the critical coefficient of friction. These performance indicators can be obtained from the inertial properties of the biomechanical system and its pre-impact mechanical state, avoiding the need to carry out force measurements. Ground reaction forces and kinematic data were collected from the running motion of an adult that adopted both rear-foot and fore-foot strike patterns. Different running cycles were analysed and statistical tests performed. Results showed that the three proposed indicators are able to illustrate significant differences between fore-foot and rear-foot strike impacts. They also support the hypothesis that fore-foot strike reduces impact intensity. On the other hand, a higher likelihood of slipping during the contact onset is associated with fore-foot strike pattern.Postprint (author's final draft

Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis

Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2006.Includes bibliographical references (leaves 89-97).Commercially available ankle-foot prostheses are passive when in contact with the ground surface, and thus, their mechanical properties remain fixed across different terrains and walking speeds. The passive nature of these prostheses causes many problems for lower extremity amputees, such as a lack of adequate balance control during standing and walking. The ground reaction force (GRF) and the zero moment point (ZMP) are known to be basic parameters in bipedal balance control. This thesis focuses on the estimation of these parameters using two prostheses, a powered ankle-foot prototype and an instrumented, mechanically-passive prosthesis worn by a transtibial amputee. The main goal of this research is to determine the feasibility of estimating the GRF and ZMP primarily using sensory information from a force/torque transducer positioned proximal to the ankle joint. The location of this sensor is ideal because it allows the use of a compliant artificial foot to be in contact with the ground, in contrast to rigid foot structures employed by walking robots. Both, the active and passive, instrumented prostheses were monitored with a wearable computing system designed to serve as a portable control unit for the active prototype and as an ambulatory gait analysis tool.(cont.) A set of experiments were conducted at MIT's gait laboratory whereby a below-knee amputee subject, using the prosthetic devices, was asked to perform single-leg standing tests and slow-walking trials. For each experiment, the GRF and ZMP were computed by combining the kinetic and kinematic information recorded from a force platform and a 3D motion capture system. These values were statistically compared to the GRF and ZMP estimated from the data collected by the embedded prosthetic sensory system and portable computing unit. The average RMS error and correlation factor were calculated for all experimental sessions. Using a static analysis procedure, the estimation of the vertical component of GRF had an averaged correlation coefficient higher than 0.96. The estimated ZMP location had a distance error of less than 1 cm, equal to 4% of the anterior-posterior foot length or 12% of the mediolateral foot width. These results suggest that it is possible to estimate the GRF between the ground and a compliant artificial prosthesis with a sensor positioned between the knee and the ankle joint.(cont.) Moreover, this sensory information is sufficient to closely estimate the ZMP location during the single support phase of slow walking and while standing on one leg. This research contributes to the development of fully integrated artificial extremities that mimic the behavior of the human ankle-foot complex, especially to help improve the postural stability of lower extremity amputees.by Ernesto Carlos Martinez Villalpando.S.M

Instrumented shoes for daily activity monitoring in healthy and at risk populations

Daily activity reflects the health status of an individual. Ageing and disease drastically affect all dimensions of mobility, from the number of active bouts to their duration and intensity. Performing less activity leads to muscle deterioration and further weakness that could lead to increased fall risk. Gait performance is also affected by ageing and could be detrimental for daily mobility. Therefore, activity monitoring in older adults and at risk persons is crucial to obtain relevant quantitative information about daily life performance. Activity evaluation has mainly been established through questionnaires or daily logs. These methods are simple but not sufficiently accurate and are prone to errors. With the advent of microelectromechanical systems (MEMS), the availability of wearable sensors has shifted activity analysis towards ambulatory monitoring. In particular, inertial measurement units consisting of accelerometers and gyroscopes have shown to be extremely relevant for characterizing human movement. However, monitoring daily activity requires comfortable and easy to use systems that are strategically placed on the body or integrated in clothing to avoid movement hindrance. Several research based systems have employed multiple sensors placed at different locations, capable of recognizing activity types with high accuracy, but not comfortable for daily use. Single sensor systems have also been used but revealed inaccuracies in activity recognition. To this end, we propose an instrumented shoe system consisting of an inertial measurement unit and a pressure sensing insole with all the sensors placed at the shoe/foot level. By measuring the foot movement and loading, the recognition of locomotion and load bearing activities would be appropriate for activity classification. Furthermore, inertial measurement units placed on the foot can perform detailed gait analysis, providing the possibility of characterizing locomotion. The system and dedicated activity classification algorithms were first designed, tested and validated during the first part of the thesis. Their application to clinical rehabilitation of at risk persons was demonstrated over the second part. In the first part of the thesis, the designed instrumented shoes system was tested in standardized conditions with healthy elderly subjects performing a sequence of structured activities. An algorithm based on movement biomechanics was built to identify each activity, namely sitting, standing, level walking, stairs, ramps, and elevators. The rich array of sensors present in the system included a 3D accelerometer, 3D gyroscope, 8 force sensors, and a barometer allowing the algorithm to reach a high accuracy in classifying different activity types. The tuning parameters of the algorithm were shown to be robust to small changes, demonstrating the suitability of the algorithm to activity classification in older adults. Next, the system was tested in daily life conditions on the same elderly participants. Using a wearable reference system, the concurrent validity of the instrumented shoes in classifying daily activity was shown. Additionally, daily gait metrics were obtained and compared to the literature. Further insight into the relationship between some gait parameters as well as a global activity metric, the activity âcomplexityâ, was discussed. Participants positively rated their comfort while using the system... (Please refer to thesis for full abstract

Novel Information About The Kinetic Effects Of Equine Shoe Modifications And Kinematic Effects Of Human Digital Devices For Improved Performance In Both Species

Equine shoes are frequently modified to enhance traction for horses that travel on paved surfaces for work, pleasure, or entertainment. Little is known about other common shoe modifications used to enhance traction like calks, tungsten carbide granules, or plastic composition. This information is vital to shoe design to protect the safety and welfare of all service, working, and leisure horses. The objective of the first part of this thesis was to quantify the effect of shoes with and without traction adaptions on kinetic measures in non-lame, light breed horses at a trot. Kinetic data was collected with a force platform from horses while unshod (U) and subsequently shod in random order with five distinct shoes: standard (S), high profile-low surface area calk (HC), low profile-high surface area calk (LC), thin layer tungsten carbide (TLC), and plastic-steel composite (C). Results indicate that in the forelimbs, peak vertical force increased with C versus S (P=0.0001), HC (P=0.0049), LC (P= 0.0110), and TLC (P=0.0246) shoes. In the hind limbs, peak braking force increased with C versus S (PPPP=0.0041). It increased with TLC versus HC (PPP=0.0079) and S shoe (P=0.0474). The human wrist (radiocarpal joints) has complex anatomy and motion that likely contributes to overuse injuries. Digital device use requires distinct wrist motions that may contribute to tissue damage with frequent, prolonged use and static loading. The second part of the thesis aimed to quantify wrist motion in radial-ulnar deviation and flexion-extension planes for use of digital devices and their manual counterparts in dominant and non-dominant hands of male and female professionals. Twelve subjects completed 4 paired daily living activities using digital and manual devices. Left and right wrist 3D motion was recorded with eight markers of a wireless, active motion detection system. This study established baseline values for medial and lateral radiocarpal extension and radial-ulnar deviation angles and ROM using digital devices. Both sex, handedness, and device size influence wrist motion

Biomechanical study of rigid ankle-foot orthoses in the treatment of stroke patients

Error on title page, date of award is 2021.Rigid Ankle-Foot Orthoses (AFOs) are commonly prescribed for stroke patients who exhibit equinovarus deformity as an orthotic intervention. The main purpose of prescribing a rigid AFO is to provide appropriate control of unwanted ankle and foot motions in any plane. To achieve the optimal effects of the AFO, appropriate stiffness and alignment optimisation (tuning) should be considered. The AFO provides moments (referred to as the orthotic moments) to control ankle motion. Orthotic moments are different from the moments generated by ground reaction forces, the later are known as total ankle moments. Reviewing the literature showed limited research in this area. The aims of this study are to investigate the biomechanical effects of using rigid AFO (before and after tuning) and to investigate the orthotic moment during walking in stroke patients. Gait data were collected from six stroke participants (2 females, 4 males) and six healthy participants (3 females, 3 males) using a Motekforce Link dual belt instrumented treadmill and a Vicon 3-dimensional motion analysis system. Each participant was fitted with a custom made rigid AFO instrumented using four strain gauges. Walking at a self-selected speed was investigated while wearing: (1) Standard shoes only (2) Rigid AFO with standard shoes (3) Rigid Tuned-AFO with standard shoes. Lower limb temporal-spatial, kinetic and kinematic parameters, and electromyographic activity (Delsys TrignoTM) of the knee muscles were compared among the test conditions. The orthotic moments were also quantified using the strain gauges data combined with gait analysis. Repeated measures ANOVA and Friedman’s ANOVA were used for statistical analysis. The rigid AFO showed immediate improvement in the temporal-spatial parameters and the kinematics and the kinetics of post stroke gait. Greater improvement in knee kinematics and kinetics was achieved when tuning the rigid AFO. The rigid AFO (before and after tuning) increased quadriceps muscle activity and reduced hamstring muscle activity compared to walking with standard shoes only. Tuning a rigid AFO further increased quadriceps muscle activity and reduced hamstring muscle activity compared to AFO before tuning. Strain gauges data combined with gait analysis can be used in evaluating the orthotic moment around the ankle in sagittal and frontal planes. Tuning a rigid AFO had no clear changes in the orthotic moment, and it did not alter the anatomical moments at the ankle joint in sagittal and at the subtalar joint in frontal plane.Rigid Ankle-Foot Orthoses (AFOs) are commonly prescribed for stroke patients who exhibit equinovarus deformity as an orthotic intervention. The main purpose of prescribing a rigid AFO is to provide appropriate control of unwanted ankle and foot motions in any plane. To achieve the optimal effects of the AFO, appropriate stiffness and alignment optimisation (tuning) should be considered. The AFO provides moments (referred to as the orthotic moments) to control ankle motion. Orthotic moments are different from the moments generated by ground reaction forces, the later are known as total ankle moments. Reviewing the literature showed limited research in this area. The aims of this study are to investigate the biomechanical effects of using rigid AFO (before and after tuning) and to investigate the orthotic moment during walking in stroke patients. Gait data were collected from six stroke participants (2 females, 4 males) and six healthy participants (3 females, 3 males) using a Motekforce Link dual belt instrumented treadmill and a Vicon 3-dimensional motion analysis system. Each participant was fitted with a custom made rigid AFO instrumented using four strain gauges. Walking at a self-selected speed was investigated while wearing: (1) Standard shoes only (2) Rigid AFO with standard shoes (3) Rigid Tuned-AFO with standard shoes. Lower limb temporal-spatial, kinetic and kinematic parameters, and electromyographic activity (Delsys TrignoTM) of the knee muscles were compared among the test conditions. The orthotic moments were also quantified using the strain gauges data combined with gait analysis. Repeated measures ANOVA and Friedman’s ANOVA were used for statistical analysis. The rigid AFO showed immediate improvement in the temporal-spatial parameters and the kinematics and the kinetics of post stroke gait. Greater improvement in knee kinematics and kinetics was achieved when tuning the rigid AFO. The rigid AFO (before and after tuning) increased quadriceps muscle activity and reduced hamstring muscle activity compared to walking with standard shoes only. Tuning a rigid AFO further increased quadriceps muscle activity and reduced hamstring muscle activity compared to AFO before tuning. Strain gauges data combined with gait analysis can be used in evaluating the orthotic moment around the ankle in sagittal and frontal planes. Tuning a rigid AFO had no clear changes in the orthotic moment, and it did not alter the anatomical moments at the ankle joint in sagittal and at the subtalar joint in frontal plane