Human Motion Analysis with Wearable Inertial Sensors

High-resolution, quantitative data obtained by a human motion capture system can be used to better understand the cause of many diseases for effective treatments. Talking about the daily care of the aging population, two issues are critical. One is to continuously track motions and position of aging people when they are at home, inside a building or in the unknown environment; the other is to monitor their health status in real time when they are in the free-living environment. Continuous monitoring of human movement in their natural living environment potentially provide more valuable feedback than these in laboratory settings. However, it has been extremely challenging to go beyond laboratory and obtain accurate measurements of human physical activity in free-living environments. Commercial motion capture systems produce excellent in-studio capture and reconstructions, but offer no comparable solution for acquisition in everyday environments. Therefore in this dissertation, a wearable human motion analysis system is developed for continuously tracking human motions, monitoring health status, positioning human location and recording the itinerary. In this dissertation, two systems are developed for seeking aforementioned two goals: tracking human body motions and positioning a human. Firstly, an inertial-based human body motion tracking system with our developed inertial measurement unit (IMU) is introduced. By arbitrarily attaching a wearable IMU to each segment, segment motions can be measured and translated into inertial data by IMUs. A human model can be reconstructed in real time based on the inertial data by applying high efficient twists and exponential maps techniques. Secondly, for validating the feasibility of developed tracking system in the practical application, model-based quantification approaches for resting tremor and lower extremity bradykinesia in Parkinson’s disease are proposed. By estimating all involved joint angles in PD symptoms based on reconstructed human model, angle characteristics with corresponding medical ratings are employed for training a HMM classifier for quantification. Besides, a pedestrian positioning system is developed for tracking user’s itinerary and positioning in the global frame. Corresponding tests have been carried out to assess the performance of each system

Feasibility of diffusion and probabilistic white matter analysis in patients implanted with a deep brain stimulator.

Deep brain stimulation (DBS) for Parkinson\u27s disease (PD) is an established advanced therapy that produces therapeutic effects through high frequency stimulation. Although this therapeutic option leads to improved clinical outcomes, the mechanisms of the underlying efficacy of this treatment are not well understood. Therefore, investigation of DBS and its postoperative effects on brain architecture is of great interest. Diffusion weighted imaging (DWI) is an advanced imaging technique, which has the ability to estimate the structure of white matter fibers; however, clinical application of DWI after DBS implantation is challenging due to the strong susceptibility artifacts caused by implanted devices. This study aims to evaluate the feasibility of generating meaningful white matter reconstructions after DBS implantation; and to subsequently quantify the degree to which these tracts are affected by post-operative device-related artifacts. DWI was safely performed before and after implanting electrodes for DBS in 9 PD patients. Differences within each subject between pre- and post-implantation FA, MD, and RD values for 123 regions of interest (ROIs) were calculated. While differences were noted globally, they were larger in regions directly affected by the artifact. White matter tracts were generated from each ROI with probabilistic tractography, revealing significant differences in the reconstruction of several white matter structures after DBS. Tracts pertinent to PD, such as regions of the substantia nigra and nigrostriatal tracts, were largely unaffected. The aim of this study was to demonstrate the feasibility and clinical applicability of acquiring and processing DWI post-operatively in PD patients after DBS implantation. The presence of global differences provides an impetus for acquiring DWI shortly after implantation to establish a new baseline against which longitudinal changes in brain connectivity in DBS patients can be compared. Understanding that post-operative fiber tracking in patients is feasible on a clinically-relevant scale has significant implications for increasing our current understanding of the pathophysiology of movement disorders, and may provide insights into better defining the pathophysiology and therapeutic effects of DBS

Investigation of intraoperative accelerometer data recording for safer and improved target selection for deep brain stimulation

Background: Deep Brain Stimulation (DBS) is a well established surgical treatment for Parkinson’s Disease (PD) and Essential Tremor (ET). Electrical leads are surgically implanted in the deeply seated structures in the brain and chronically stimulated. The location of the lead with respect to the anatomy is very important for optimal treatment. Therefore, clinicians carefully plan the surgery, record electrophysiological signals from the region of interest and perform stimulation tests to identify the best location to permanently place the leads. Nevertheless, there are certain aspects of the surgery that can still be improved. Firstly, therapeutic effects of stimulation are estimated by visually evaluating changes in tremor or passively moving patient's limb to evaluate changes in rigidity. These methods are subjective and depend heavily on the experience of the evaluator. Secondly, a significant amount of patient data is collected before and during the surgery like various CT and MR images, surgical planning information, electrophysiological recordings and results of stimulation tests. These are not fully utilized at the time of choosing the position for lead placement as they are either not available or acquired on separate systems or in the form of paper notes only. Thirdly, studies have shown that the current target structures to implant the leads (Subthalamic Nucleus (STN) for PD and Ventral Intermediate Nucleus (VIM) for ET) may not be the only ones responsible for the therapeutic effects. The objective of this doctoral work is to develop new methods that help clinicians subdue the above limitations which could in the long term improve the DBS therapy. Method: After a thorough review of the existing literature, specifically customized solutions were designed for the shortcomings described above. A new method to quantitatively evaluate tremor during DBS surgery using acceleration sensor was developed. The method was then adapted to measure acceleration of passive movements and to evaluate changes in rigidity through it. Data from 30 DBS surgeries was collected by applying these methods in two clinical studies: one in Centre Hospitalier Universitaire, Clermont-Ferrand, France and another multi-center study in Universitäspital Basel and Inselspital Bern in Switzerland. To study the role of different anatomical structures in the therapeutic and adverse effects of stimulation, the data collected during the study was analysed using two methods. The first classical approach was to classify the data based on the anatomical structure in which the stimulating contact of the electrode was located. The second advanced approach was to use patient-specific Finite Element Method (FEM) simulations of the Electric Field (EF) to estimate the spatial distribution of stimulation in the structures surrounding the electrode. Such simulations of the adverse effect inducing stimulation current amplitudes are used to visualize the boundaries of safe stimulation and identify structures that could be responsible for these effects. In addition, the patient-specific simulations are also used to develop a new method called "Improvement Maps" to generate 2D and 3D visualization of intraoperative stimulation test results with the patient images and surgical planning. This visualization summarized the stimulation test results by dividing the explored area into multiple regions based on the improvement in symptoms as measured by the accelerometric methods. Results: The accelerometric method successfully measured changes in tremor and rigidity. Standard deviation, signal energy and spectral amplitude of dominant frequency correlated with changes in the symptoms. Symptom suppressing stimulation current amplitudes identified through quantitative methods were lower than those identified through the subjective methods. Comparison of anatomical targets using the accelerometric data showed that to suppress rigidity in PD patients, stimulation current needed was marginally higher for Fields of Forel (FF) and Zona Incerta (ZI) compared to STN. On the other hand, the adverse effect occurrence rate was significantly lower in ZI and FF, indicating them to be better targets compared to STN. Similarly, for ET patients, other thalamic nuclei like the Intermediolateral (InL) and Ventro-Oral (VO) as well as the Pre-Lemniscal Radiations (PLR) are as efficient in suppressing tremor as the VIM but have lower occurrence of adverse effects. Volumetric analysis of spatial distribution of stimulation agreed with these results suggesting that the structures other than the VIM could also play a role in therapeutic effects of stimulation. The visualization of the adverse effect simulations clearly show the structures which could be responsible for such effects e.g. stimulation in the internal capsula induced pyramidal effects. These findings concur with the published literature. With regard to the improvement maps, the clinicians found them intuitive and easy to use to identify the optimal position for lead placement. If the maps were available during the surgery, the clinicians' choice of lead placement would have been different. Conclusion: This doctoral work has shown that modern techniques like quantitative symptom evaluation and electric field simulations can suppress the existing drawbacks of the DBS surgery. Furthermore, these methods along with 3D visualization of data can simplify tasks for clinicians of optimizing lead placement. Better placement of the DBS lead can potentially reduce adverse effects and increase battery life of implanted pulse generator, resulting in better therapy for patients

Kvantitativna analiza pokreta u rehabilitaciji neuroloških poremećaja korišćenjem vizuelnih i nosivih senzora.

Neuroloska oboljenja, kao sto su Parkinsonova bolest i slog, dovode do ozbiljnih motornih poremecaja, smanjuju kvalitet zivota pacijenata i mogu da uzrokuju smrt. Rana dijagnoza i adekvatno lecenje su krucijalni faktori za drzanje bolesti pod kontrolom, kako bi se omogucio normalan svakodnevni zivot pacijenata. Lecenje neurolo skih bolesti obicno ukljucuje rehabilitacionu terapiju i terapiju lekovima, koje se prilagodavaju u skladu sa stanjem pacijenta tokom vremena. Tradicionalne tehnike evaluacije u dijagnozi i monitoringu neuroloskih bolesti oslanjaju se na klinicke evaluacione alate, tacnije specijalno dizajnirane klinicke testove i skale. Medutim, iako su korisne i najcesce koriscene, klinicke skale su sklone subjektivnim ocenama i nepreciznoj interpretaciji performanse pacijenta...Neurological disorders, such as Parkinson's disease (PD) and stroke, lead to serious motor disabilities, decrease the patients' quality of life and can cause the mortality. Early diagnosis and adequate disease treatment are thus crucial factors towards keeping the disease under control in order to enable the normal every-day life of patients. The treatment of neurological disorders usually includes the rehabilitation therapy and drug treatment, that are adapted based on the evaluation of the patient state over time. Conventional evaluation techniques for diagnosis and monitoring in neurological disorders rely on the clinical assessment tools i.e. specially designed clinical tests and scales. However, although benecial and commonly used, those scales are descriptive (qualitative), primarily intended to be carried out by a trained neurologist, and are prone to subjective rating and imprecise interpretation of patient's performance..

Smart Technology for Telerehabilitation: A Smart Device Inertial-sensing Method for Gait Analysis

The aim of this work was to develop and validate an iPod Touch (4th generation) as a potential ambulatory monitoring system for clinical and non-clinical gait analysis. This thesis comprises four interrelated studies, the first overviews the current available literature on wearable accelerometry-based technology (AT) able to assess mobility-related functional activities in subjects with neurological conditions in home and community settings. The second study focuses on the detection of time-accurate and robust gait features from a single inertial measurement unit (IMU) on the lower back, establishing a reference framework in the process. The third study presents a simple step length algorithm for straight-line walking and the fourth and final study addresses the accuracy of an iPod’s inertial-sensing capabilities, more specifically, the validity of an inertial-sensing method (integrated in an iPod) to obtain time-accurate vertical lower trunk displacement measures. The systematic review revealed that present research primarily focuses on the development of accurate methods able to identify and distinguish different functional activities. While these are important aims, much of the conducted work remains in laboratory environments, with relatively little research moving from the “bench to the bedside.” This review only identified a few studies that explored AT’s potential outside of laboratory settings, indicating that clinical and real-world research significantly lags behind its engineering counterpart. In addition, AT methods are largely based on machine-learning algorithms that rely on a feature selection process. However, extracted features depend on the signal output being measured, which is seldom described. It is, therefore, difficult to determine the accuracy of AT methods without characterizing gait signals first. Furthermore, much variability exists among approaches (including the numbers of body-fixed sensors and sensor locations) to obtain useful data to analyze human movement. From an end-user’s perspective, reducing the amount of sensors to one instrument that is attached to a single location on the body would greatly simplify the design and use of the system. With this in mind, the accuracy of formerly identified or gait events from a single IMU attached to the lower trunk was explored. The study’s analysis of the trunk’s vertical and anterior-posterior acceleration pattern (and of their integrands) demonstrates, that a combination of both signals may provide more nuanced information regarding a person’s gait cycle, ultimately permitting more clinically relevant gait features to be extracted. Going one step further, a modified step length algorithm based on a pendulum model of the swing leg was proposed. By incorporating the trunk’s anterior-posterior displacement, more accurate predictions of mean step length can be made in healthy subjects at self-selected walking speeds. Experimental results indicate that the proposed algorithm estimates step length with errors less than 3% (mean error of 0.80 ± 2.01cm). The performance of this algorithm, however, still needs to be verified for those suffering from gait disturbances. Having established a referential framework for the extraction of temporal gait parameters as well as an algorithm for step length estimations from one instrument attached to the lower trunk, the fourth and final study explored the inertial-sensing capabilities of an iPod Touch. With the help of Dr. Ian Sheret and Oxford Brookes’ spin-off company ‘Wildknowledge’, a smart application for the iPod Touch was developed. The study results demonstrate that the proposed inertial-sensing method can reliably derive lower trunk vertical displacement (intraclass correlations ranging from .80 to .96) with similar agreement measurement levels to those gathered by a conventional inertial sensor (small systematic error of 2.2mm and a typical error of 3mm). By incorporating the aforementioned methods, an iPod Touch can potentially serve as a novel ambulatory monitor system capable of assessing gait in clinical and non-clinical environments

Exploration of digital biomarkers in chronic low back pain and Parkinson’s disease

Chronic pain and Parkinson’s disease are illnesses with personal disease progression, symptoms, and the experience of these. The ability to measure and monitor the symptoms by digitally and remotely is still limited. The aim was to study the usability and feasibility of real-world data from wearables, mobile devices, and patients in exploring digital biomarkers in these diseases. The key hypothesis was that this allows us to measure, analyse and detect clinically valid digital signals in movement, heart rate and skin conductance data. The laboratory grade data in chronic pain were collected in an open feasibility study by using a program and built-in sensors in virtual reality devices. The real-world data were collected with a randomized clinical study by clinical assessments, built-in sensors, and two wearables. The laboratory grade dataset in Parkinson’s disease was obtained from Michael J. Fox Foundation. It contained sensor data from three wearables with clinical assessments. The real-world data were collected with a clinical study by clinical assessments, a wearable, and a mobile application. With both diseases the laboratory grade data were first explored, before the real-world data were analyzed. The classification of chronic pain patients with the laboratory grade movement data was possible with a high accuracy. A novel real-world digital signal that correlates with clinical outcomes was found in chronic low back pain patients. A model that was able to detect different movement states was developed with laboratory grade Parkinson’s disease data. A detection of these states followed by the quantification of symptoms was found to be a potential method for the future. The usability of data collection methods in both diseases were found promising. In the future the analyses of movement data in these diseases could be further researched and validated as a movement based digital biomarkers to be used as a surrogate or additional endpoint. Combining the data science with the optimal usability enables the exploitation of digital biomarkers in clinical trials and treatment.Digitaalisten biomarkkereiden tunnistaminen kroonisessä alaselkäkivussa ja Parkinsonin taudissa Krooninen kipu ja Parkinsonin tauti ovat oireiden, oirekokemuksen sekä taudin kehittymisen osalta yksilöllisiä sairauksia. Kyky mitata ja seurata oireita etänä on vielä alkeellista. Väitöskirjassa tutkittiin kaupallisten mobiili- ja älylaitteiden hyödyntämistä digitaalisten biomarkkereiden löytämisessä näissä taudeissa. Pääolettamus oli, että kaupallisten älylaitteiden avulla kyetään tunnistamaan kliinisesti hyödyllisiä digitaalisia signaaleja. Kroonisen kivun laboratorio-tasoinen data kerättiin tätä varten kehitettyä ohjelmistoa sekä kaupallisia antureita käyttäen. Reaaliaikainen kipudata kerättiin erillisen hoito-ohjelmiston tehoa ja turvallisuutta mitanneessa kliinisessä tutkimuksessa sekä kliinisiä arviointeja että anturidataa hyödyntäen. Laboratorio-tasoinena datana Parkinsonin taudissa käytettiin Michael J. Fox Foundationin kolmella eri älylaitteella ja kliinisin arvioinnein kerättyä dataa. Reaaliaikainen data kerättiin käyttäen kliinisia arviointeja, älyranneketta ja mobiilisovellusta. Molempien indikaatioiden kohdalla laboratoriodatalle tehtyä eksploratiivista analyysia hyödynnettiin itse reaaliaikaisen datan analysoinnissa. Kipupotilaiden tunnistaminen laboratorio-tasoisesta liikedatasta oli mahdollista korkealla tarkkuudella. Reaaliaikaisesta liikedatasta löytyi uusi kliinisten arviointien kanssa korreloiva digitaalinen signaali. Parkinsonin taudin datasta kehitettiin uusi liiketyyppien tunnistamiseen tarkoitettu koneoppimis-malli. Sen hyödyntäminen liikedatan liiketyyppien tunnistamisessa ennen varsinaista oireiden mittausta on lupaava menetelmä. Käytettävyys molempien tautien reaaliaikaisissa mittausmenetelmissä havaittiin toimivaksi. Reaaliaikaiseen, kaupallisin laittein kerättävään liikedataan pohjautuvat digitaaliset biomarkkerit ovat lupaava kohde jatkotutkimukselle. Uusien analyysimenetelmien yhdistäminen optimaaliseen käytettävyyteen mahdollistaa tulevaisuudessa digitaalisten biomarkkereiden hyödyntämisen sekä kroonisten tautien kliinisessä tutkimuksessa että itse hoidossa

Safe Haptics-enabled Patient-Robot Interaction for Robotic and Telerobotic Rehabilitation of Neuromuscular Disorders: Control Design and Analysis

Motivation: Current statistics show that the population of seniors and the incidence rate of age-related neuromuscular disorders are rapidly increasing worldwide. Improving medical care is likely to increase the survival rate but will result in even more patients in need of Assistive, Rehabilitation and Assessment (ARA) services for extended periods which will place a significant burden on the world\u27s healthcare systems. In many cases, the only alternative is limited and often delayed outpatient therapy. The situation will be worse for patients in remote areas. One potential solution is to develop technologies that provide efficient and safe means of in-hospital and in-home kinesthetic rehabilitation. In this regard, Haptics-enabled Interactive Robotic Neurorehabilitation (HIRN) systems have been developed. Existing Challenges: Although there are specific advantages with the use of HIRN technologies, there still exist several technical and control challenges, e.g., (a) absence of direct interactive physical interaction between therapists and patients; (b) questionable adaptability and flexibility considering the sensorimotor needs of patients; (c) limited accessibility in remote areas; and (d) guaranteeing patient-robot interaction safety while maximizing system transparency, especially when high control effort is needed for severely disabled patients, when the robot is to be used in a patient\u27s home or when the patient experiences involuntary movements. These challenges have provided the motivation for this research. Research Statement: In this project, a novel haptics-enabled telerobotic rehabilitation framework is designed, analyzed and implemented that can be used as a new paradigm for delivering motor therapy which gives therapists direct kinesthetic supervision over the robotic rehabilitation procedure. The system also allows for kinesthetic remote and ultimately in-home rehabilitation. To guarantee interaction safety while maximizing the performance of the system, a new framework for designing stabilizing controllers is developed initially based on small-gain theory and then completed using strong passivity theory. The proposed control framework takes into account knowledge about the variable biomechanical capabilities of the patient\u27s limb(s) in absorbing interaction forces and mechanical energy. The technique is generalized for use for classical rehabilitation robotic systems to realize patient-robot interaction safety while enhancing performance. In the next step, the proposed telerobotic system is studied as a modality of training for classical HIRN systems. The goal is to first model and then regenerate the prescribed kinesthetic supervision of an expert therapist. To broaden the population of patients who can use the technology and HIRN systems, a new control strategy is designed for patients experiencing involuntary movements. As the last step, the outcomes of the proposed theoretical and technological developments are translated to designing assistive mechatronic tools for patients with force and motion control deficits. This study shows that proper augmentation of haptic inputs can not only enhance the transparency and safety of robotic and telerobotic rehabilitation systems, but it can also assist patients with force and motion control deficiencies

Etude expérimentale des dynamiques temporelles du comportement normal et pathologique chez le rat et la souris

155 p.Modern neuroscience highlights the need for designing sophisticated behavioral readout of internal cognitive states. From a thorough analysis of classical behavioral test, my results supports the hypothesis that sensory ypersensitivity might be the cause of other behavioural deficits, and confirm the potassium channel BKCa as a potentially relevant molecular target for the development of drug medication against Fragile X Syndrome/Autism Spectrum Disorders. I have also used an innovative device, based on pressure sensors that can non-invasively detect the slightest animal movement with unprecedented sensitivity and time resolution, during spontaneous behaviour. Analysing this signal with sophisticated computational tools, I could demonstrate the outstanding potential of this methodology for behavioural phenotyping in general, and more specifically for the investigation of pain, fear or locomotion in normal mice and models of neurodevelopmental and neurodegenerative disorders

The computational neurology of movement under active inference

We propose a computational neurology of movement based on the convergence of theoretical neurobiology and clinical neurology. A significant development in the former is the idea that we can frame brain function as a process of (active) inference, in which the nervous system makes predictions about its sensory data. These predictions depend upon an implicit predictive (generative) model used by the brain. This means neural dynamics can be framed as generating actions to ensure sensations are consistent with these predictions-and adjusting predictions when they are not. We illustrate the significance of this formulation for clinical neurology through simulating a clinical examination of the motor system; i.e. an upper limb coordination task. Specifically, we show how tendon reflexes emerge naturally under the right kind of generative model. Through simulated perturbations, pertaining to prior probabilities of this model's variables, we illustrate the emergence of hyperreflexia and pendular reflexes, reminiscent of neurological lesions in the corticospinal tract and cerebellum. We then turn to the computational lesions causing hypokinesia and deficits of coordination. This in silico lesion-deficit analysis provides an opportunity to revisit classic neurological dichotomies (e.g. pyramidal versus extrapyramidal systems) from the perspective of modern approaches to theoretical neurobiology-and our understanding of the neurocomputational architecture of movement control based on first principles

Understanding motor control in humans to improve rehabilitation robots

Recent reviews highlighted the limited results of robotic rehabilitation and the low quality of evidences in this field. Despite the worldwide presence of several robotic infrastructures, there is still a lack of knowledge about the capabilities of robotic training effect on the neural control of movement. To fill this gap, a step back to motor neuroscience is needed: the understanding how the brain works in the generation of movements, how it adapts to changes and how it acquires new motor skills is fundamental. This is the rationale behind my PhD project and the contents of this thesis: all the studies included in fact examined changes in motor control due to different destabilizing conditions, ranging from external perturbations, to self-generated disturbances, to pathological conditions. Data on healthy and impaired adults have been collected and quantitative and objective information about kinematics, dynamics, performance and learning were obtained for the investigation of motor control and skill learning. Results on subjects with cervical dystonia show how important assessment is: possibly adequate treatments are missing because the physiological and pathological mechanisms underlying sensorimotor control are not routinely addressed in clinical practice. These results showed how sensory function is crucial for motor control. The relevance of proprioception in motor control and learning is evident also in a second study. This study, performed on healthy subjects, showed that stiffness control is associated with worse robustness to external perturbations and worse learning, which can be attributed to the lower sensitiveness while moving or co-activating. On the other hand, we found that the combination of higher reliance on proprioception with \u201cdisturbance training\u201d is able to lead to a better learning and better robustness. This is in line with recent findings showing that variability may facilitate learning and thus can be exploited for sensorimotor recovery. Based on these results, in a third study, we asked participants to use the more robust and efficient strategy in order to investigate the control policies used to reject disturbances. We found that control is non-linear and we associated this non-linearity with intermittent control. As the name says, intermittent control is characterized by open loop intervals, in which movements are not actively controlled. We exploited the intermittent control paradigm for other two modeling studies. In these studies we have shown how robust is this model, evaluating it in two complex situations, the coordination of two joints for postural balance and the coordination of two different balancing tasks. It is an intriguing issue, to be addressed in future studies, to consider how learning affects intermittency and how this can be exploited to enhance learning or recovery. The approach, that can exploit the results of this thesis, is the computational neurorehabilitation, which mathematically models the mechanisms underlying the rehabilitation process, with the aim of optimizing the individual treatment of patients. Integrating models of sensorimotor control during robotic neurorehabilitation, might lead to robots that are fully adaptable to the level of impairment of the patient and able to change their behavior accordingly to the patient\u2019s intention. This is one of the goals for the development of rehabilitation robotics and in particular of Wristbot, our robot for wrist rehabilitation: combining proper assessment and training protocols, based on motor control paradigms, will maximize robotic rehabilitation effects