Appl Ergon

The objective of this study was to evaluate the accuracy of various sensor fusion algorithms for measuring upper arm elevation relative to gravity (i.e., angular displacement and velocity summary measures) across different motion speeds. Thirteen participants completed a cyclic, short duration, arm-intensive work task that involved transfering wooden dowels at three work rates (slow, medium, fast). Angular displacement and velocity measurements of upper arm elevation were simultaneously measured using an inertial measurement unit (IMU) and an optical motion capture (OMC) system. Results indicated that IMU-based inclinometer solutions can reduce root-mean-square errors in comparison to accelerometer-based inclination estimates by as much as 87%, depending on the work rate and sensor fusion approach applied. The findings suggest that IMU-based inclinometers can substantially improve inclinometer accuracy in comparison to traditional accelerometer-based inclinometers. Ergonomists may use the non-proprietary sensor fusion algorithms provided here to more accurately estimate upper arm elevation.T42 OH008436/OH/NIOSH CDC HHSUnited States/T42 OH008491/OH/NIOSH CDC HHSUnited States/T42OH008436/ACL/ACL HHSUnited States/T42OH008491/ACL/ACL HHSUnited States/2022-10-26T00:00:00Z29122186PMC960561812055vault:4343

Human Observer and Automatic Assessment of Movement Related Self-Efficacy in Chronic Pain: from Exercise to Functional Activity

Clinicians tailor intervention in chronic pain rehabilitation to movement related self-efficacy (MRSE). This motivates us to investigate automatic MRSE estimation in this context towards the development of technology that is able to provide appropriate support in the absence of a clinician. We first explored clinical observer estimation, which showed that body movement behaviours, rather than facial expressions or engagement behaviours, were more pertinent to MRSE estimation during physical activity instances. Based on our findings, we built a system that estimates MRSE from bodily expressions and bodily muscle activity captured using wearable sensors. Our results (F1 scores of 0.95 and 0.78 in two physical exercise types) provide evidence of the feasibility of automatic MRSE estimation to support chronic pain physical rehabilitation. We further explored automatic estimation of MRSE with a reduced set of low-cost sensors to investigate the possibility of embedding such capabilities in ubiquitous wearable devices to support functional activity. Our evaluation for both exercise and functional activity resulted in F1 score of 0.79. This result suggests the possibility of (and calls for more studies on) MRSE estimation during everyday functioning in ubiquitous settings. We provide a discussion of the implication of our findings for relevant areas

Manipulator State Estimation with Low Cost Accelerometers and Gyroscopes

Abstract — Robot manipulator designs are increasingly focused on low cost approaches, especially those envisioned for use in unstructured environments such as households, office spaces and hazardous environments. The cost of angular sensors varies based on the precision offered. For tasks in these environments, millimeter order manipulation errors are unlikely to cause drastic reduction in performance. In this paper, estimates the joint angles of a manipulator using low cost triaxial accelerometers by taking the difference between consecutive acceleration vectors. The accelerometer-based angle is compensated with a uniaxial gyroscope using a complementary filter to give robust measurements. Three compensation strategies are compared: complementary filter, time varying complementary filter, and extended Kalman filter. This sensor setup can also accurately track the joint angle even when the joint axis is parallel to gravity and the accelerometer data does not provide useful information. In order to analyze this strategy, accelerometers and gyroscopes were mounted on one arm of a PR2 robot. The arm was manually moved smoothly through different trajectories in its workspace while the joint angle readings from the on-board optical encoders were compared against the joint angle estimates from the accelerometers and gyroscopes. The low cost angle estimation strategy has a mean error 1.3 ◦ over the three joints estimated, resulting in mean end effector position errors of 6.1 mm or less. This system provides an effective angular measurement as an alternative to high precision encoders in low cost manipulators and as redundant measurements for safety in other manipulators. Index Terms — MEMS, accelerometers, gyroscopes, manipulator state estimation, extended Kalman filter, complementary filter I

Automatic Monitoring of Physical Activity Related Affective States for Chronic Pain Rehabilitation

Chronic pain is a prevalent disorder that affects engagement in valued activities. This is a consequence of cognitive and affective barriers, particularly low self-efficacy and emotional distress (i.e. fear/anxiety and depressed mood), to physical functioning. Although clinicians intervene to reduce these barriers, their support is limited to clinical settings and its effects do not easily transfer to everyday functioning which is key to self-management for the person with pain. Analysis carried out in parallel with this thesis points to untapped opportunities for technology to support pain self-management or improved function in everyday activity settings. With this long-term goal for technology in mind, this thesis investigates the possibility of building systems that can automatically detect relevant psychological states from movement behaviour, making three main contributions. First, extension of the annotation of an existing dataset of participants with and without chronic pain performing physical exercises is used to develop a new model of chronic disabling pain where anxiety acts as mediator between pain and self-efficacy, emotional distress, and movement behaviour. Unlike previous models, which are largely theoretical and draw from broad measures of these variables, the proposed model uses event-specific data that better characterise the influence of pain and related states on engagement in physical activities. The model further shows that the relationship between these states and guarding during movement (the behaviour specified in the pain behaviour literature) is complex and behaviour descriptions of a lower level of granularity are needed for automatic classification of the states. The model also suggests that some of the states may be expressed via other movement behaviour types. Second, addressing this using the aforementioned dataset with the additional labels, and through an in-depth analysis of movement, this thesis provides an extended taxonomy of bodily cues for the automatic classification of pain, self-efficacy and emotional distress. In particular, the thesis provides understanding of novel cues of these states and deeper understanding of known cues of pain and emotional distress. Using machine learning algorithms, average F1 scores (mean across movement types) of 0.90, 0.87, and 0.86 were obtained for automatic detection of three levels of pain and self-efficacy and of two levels of emotional distress respectively, based on the bodily cues described and thus supporting the discriminative value of the proposed taxonomy. Third, based on this, the thesis acquired a new dataset of both functional and exercise movements of people with chronic pain based on low-cost wearable sensors designed for this thesis and informed by the previous studies. The modelling results of average F1 score of 0.78 for two-level detection of both pain and self-efficacy point to the possibility of automatic monitoring of these states in everyday functioning. With these contributions, the thesis provides understanding and tools necessary to advance the area of pain-related affective computing and groundbreaking insight that is critical to the understanding of chronic pain. Finally, the contributions lay the groundwork for physical rehabilitation technology to facilitate everyday functioning of people with chronic pain