Development and Implementation of Mathematical Modeling, Vibration and Acoustic Emission Technique to Correlate \u3cem\u3eIn Vivo\u3c/em\u3e Kinematics, Kinetics and Sound in Total Hip Arthroplasty with Different Bearing Surfaces

The evaluation of Total Hip Arthroplasty (THA) outcome is difficult and invasive methods are often applied. Fluoroscopy has been used as an in vivo diagnostic technique to determine separation which may lead to vibration propagation and audible interactions. The objective of this study was to develop a new, non-invasive technique of digitally capturing vibration and sound emissions at the hip joint interface and to correlate those with the hip kinematics derived from fluoroscopy. Additionally, an examination of the role of hip mechanics on walking performance in THA subjects of various bearings surfaces was performed. In vivo kinematics, kinetics, corresponding vibration and sound measurements of THA were analyzed post-operatively using video-fluoroscopy, mathematical modeling, sound sensors and accelerometers during gait on a treadmill. Twenty-seven subjects (31 hips) with a metal-on-metal, metal-on-polyethylene, ceramic-on-ceramic, ceramicon- polyethylene or metal-on-metal polyethylene-sandwich THA were analyzed. A data acquisition system was used to amplify the signal and filter out associated frequencies attributed to noise. The sound measurements were correlated to in vivo kinematics. A mathematical model of the human extremity was derived to determine in vivo bearing and soft-tissue forces. For all bearings a distinct correlation of a high frequency sound occurring at the time when the femoral head slides back into the acetabular component was observed. Subjects having a hard-on-hard bearing seemed to attenuate a squeaking and/or impacting sound, while those having polyethylene liner only revealed a knocking sound attributed to impact loading conditions. For the first time, audible effects can be derived in vivo and the examined correlation brings valuable insight into the hip joint performance in an inexpensive and non-invasive manner. This research may allow for a further correlation to be derived between sound and different types of failure mechanisms. Results from this study will give surgeons and engineers a better understanding of in vivo mechanics of the hip joint and this way improve the quality of life of THA patients. In addition, the developed technique builds the first milestone in the design and implementation of a cost effective, non-invasive diagnostic technique which has the potential to become a routine diagnosis of joint conditions

System Identification of Bipedal Locomotion in Robots and Humans

The ability to perform a healthy walking gait can be altered in numerous cases due to gait disorder related pathologies. The latter could lead to partial or complete mobility loss, which affects the patients’ quality of life. Wearable exoskeletons and active prosthetics have been considered as a key component to remedy this mobility loss. The control of such devices knows numerous challenges that are yet to be addressed. As opposed to fixed trajectories control, real-time adaptive reference generation control is likely to provide the wearer with more intent control over the powered device. We propose a novel gait pattern generator for the control of such devices, taking advantage of the inter-joint coordination in the human gait. Our proposed method puts the user in the control loop as it maps the motion of healthy limbs to that of the affected one. To design such control strategy, it is critical to understand the dynamics behind bipedal walking. We begin by studying the simple compass gait walker. We examine the well-known Virtual Constraints method of controlling bipedal robots in the image of the compass gait. In addition, we provide both the mechanical and control design of an affordable research platform for bipedal dynamic walking. We then extend the concept of virtual constraints to human locomotion, where we investigate the accuracy of predicting lower limb joints angular position and velocity from the motion of the other limbs. Data from nine healthy subjects performing specific locomotion tasks were collected and are made available online. A successful prediction of the hip, knee, and ankle joints was achieved in different scenarios. It was also found that the motion of the cane alone has sufficient information to help predict good trajectories for the lower limb in stairs ascent. Better estimates were obtained using additional information from arm joints. We also explored the prediction of knee and ankle trajectories from the motion of the hip joints

Design and Assessment of Vibrotactile Biofeedback and Instructional Systems for Balance Rehabilitation Applications.

Sensory augmentation, a type of biofeedback, is a technique for supplementing or reinforcing native sensory inputs. In the context of balance-related applications, it provides users with additional information about body motion, usually with respect to the gravito-inertial environment. Multiple studies have demonstrated that biofeedback, regardless of the feedback modality (i.e., vibrotactile, electrotactile, auditory), decreases body sway during real-time use within a laboratory setting. However, in their current laboratory-based form, existing vibrotactile biofeedback devices are not appropriate for use in clinical and/or home-based rehabilitation settings due to the expense, size, and operating complexity of the instrumentation required. This dissertation describes the design, development, and preliminary assessment of two technologies that support clinical and home-based balance rehabilitation training. The first system provides vibrotactile-based instructional motion cues to a trainee based on the measured difference between the expert’s and trainee’s motions. The design of the vibrotactile display is supported by a study that characterizes the non-volitional postural responses to vibrotactile stimulation applied to the torso. This study shows that vibration applied individually by tactors over the internal oblique and erector spinae muscles induces a postural shift of the order of one degree oriented in the direction of the stimulation. Furthermore, human performance is characterized both experimentally and theoretically when the expert–trainee error thresholds and nature of the control signal are varied. The results suggest that expert–subject cross-correlation values were maximized and position errors and time delays were minimized when the controller uses a 0.5 error threshold and proportional plus derivative feedback control signal, and that subject performance decreases as motion speed and complexity increase. The second system provides vibrotactile biofeedback about body motion using a cell phone. The system is capable of providing real-time vibrotactile cues that inform corrective trunk tilt responses. When feedback is available, both healthy subjects and those with vestibular involvement significantly reduce their anterior-posterior or medial-lateral root-mean-square body sway, have significantly smaller elliptical area fits to their sway trajectory, spend a significantly greater mean percentage time within the no feedback zone, and show a significantly greater A/P or M/L mean power frequency.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91546/1/channy_1.pd

Compensatory strategies while walking in Charcot-Marie-Tooth disease: Impact and intervention.

Charcot-Marie-Tooth disease (CMT) is a peripheral neuropathy presenting with distal weakness and sensory loss. This thesis examines the role that proximal activity plays in compensating for distal weakness to maintain functional walking. Comparative 3D gait analysis showed reduced range of ankle motion kinetics in people with CMT. Additionally, swing phase hip flexion increased, moments and power around the knee altered during preswing and trunk motion increased. These changes were related to the degree of distal weakness. Proximal adaptations were also observed in healthy control subjects following isolated bilateral fatigue of the plantarflexors but did not resemble those of people with CMT. The role the hip flexors play in compensating for plantarflexor weakness to maintain walking was examined in two studies. When walking on a treadmill people with CMT took an average of 48 minutes to reach level 17 on the Borg perceived exertion scale whereas matched control subjects reached level 8 while walking at the same speed and cadence. After prolonged walking the maximum voluntary contraction of the hip flexors reduced by 20% in the CMT group. Additionally, hip flexor velocity reduced during swing phase and trunk motion increased. A separate study specifically fatigued the hip flexors by 20% resulting in similar kinematic changes to the first study, plus a reduction in walking time to reach Borg level 17 in people with CMT. The effect of ankle foot orthoses (AFO) was investigated in people with CMT. A variation in the stiffness of the three splints was observed when worn with footwear. During walking all AFOs reduced footdrop during swing phase but did not reduce hip flexion. One of the more rigid devices also reduced the total ankle power generation during preswing. These studies suggest that proximal compensations are present, they maintain functional walking and may be influenced by orthotics intervention

Computational Intelligence in Electromyography Analysis

Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. EMG may be used clinically for the diagnosis of neuromuscular problems and for assessing biomechanical and motor control deficits and other functional disorders. Furthermore, it can be used as a control signal for interfacing with orthotic and/or prosthetic devices or other rehabilitation assists. This book presents an updated overview of signal processing applications and recent developments in EMG from a number of diverse aspects and various applications in clinical and experimental research. It will provide readers with a detailed introduction to EMG signal processing techniques and applications, while presenting several new results and explanation of existing algorithms. This book is organized into 18 chapters, covering the current theoretical and practical approaches of EMG research

Brain Tumour Classification Using Deep Features from Structural MRI

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Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion