Visual Analysis of Multi-Joint Kinematic Data

Abstract Kinematics is the analysis of motions without regarding forces or inertial effect

Encoderless Gimbal Calibration of Dynamic Multi-Camera Clusters

Dynamic Camera Clusters (DCCs) are multi-camera systems where one or more cameras are mounted on actuated mechanisms such as a gimbal. Existing methods for DCC calibration rely on joint angle measurements to resolve the time-varying transformation between the dynamic and static camera. This information is usually provided by motor encoders, however, joint angle measurements are not always readily available on off-the-shelf mechanisms. In this paper, we present an encoderless approach for DCC calibration which simultaneously estimates the kinematic parameters of the transformation chain as well as the unknown joint angles. We also demonstrate the integration of an encoderless gimbal mechanism with a state-of-the art VIO algorithm, and show the extensions required in order to perform simultaneous online estimation of the joint angles and vehicle localization state. The proposed calibration approach is validated both in simulation and on a physical DCC composed of a 2-DOF gimbal mounted on a UAV. Finally, we show the experimental results of the calibrated mechanism integrated into the OKVIS VIO package, and demonstrate successful online joint angle estimation while maintaining localization accuracy that is comparable to a standard static multi-camera configuration.Comment: ICRA 201

VNect: Real-time 3D Human Pose Estimation with a Single RGB Camera

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose regressor with kinematic skeleton fitting. Our novel fully-convolutional pose formulation regresses 2D and 3D joint positions jointly in real time and does not require tightly cropped input frames. A real-time kinematic skeleton fitting method uses the CNN output to yield temporally stable 3D global pose reconstructions on the basis of a coherent kinematic skeleton. This makes our approach the first monocular RGB method usable in real-time applications such as 3D character control---thus far, the only monocular methods for such applications employed specialized RGB-D cameras. Our method's accuracy is quantitatively on par with the best offline 3D monocular RGB pose estimation methods. Our results are qualitatively comparable to, and sometimes better than, results from monocular RGB-D approaches, such as the Kinect. However, we show that our approach is more broadly applicable than RGB-D solutions, i.e. it works for outdoor scenes, community videos, and low quality commodity RGB cameras.Comment: Accepted to SIGGRAPH 201

Inter-Joint Coordination Deficits Revealed in the Decomposition of Endpoint Jerk During Goal-Directed Arm Movement After Stroke

It is well documented that neurological deficits after stroke can disrupt motor control processes that affect the smoothness of reaching movements. The smoothness of hand trajectories during multi-joint reaching depends on shoulder and elbow joint angular velocities and their successive derivatives as well as on the instantaneous arm configuration and its rate of change. Right-handed survivors of unilateral hemiparetic stroke and neurologically-intact control participants held the handle of a two-joint robot and made horizontal planar reaching movements. We decomposed endpoint jerk into components related to shoulder and elbow joint angular velocity, acceleration, and jerk. We observed an abnormal decomposition pattern in the most severely impaired stroke survivors consistent with deficits of inter-joint coordination. We then used numerical simulations of reaching movements to test whether the specific pattern of inter-joint coordination deficits observed experimentally could be explained by either a general increase in motor noise related to weakness or by an impaired ability to compensate for multi-joint interaction torque. Simulation results suggest that observed deficits in movement smoothness after stroke more likely reflect an impaired ability to compensate for multi-joint interaction torques rather than the mere presence of elevated motor noise

Full gait cycle analysis of lower limb and trunk kinematics and muscle activations during walking in participants with and without ankle instability

This document is the Accepted Manuscript version of the following article: Lynsey Northeast, Charlotte N. Gautrey, Lindsay Bottoms, Gerwyn Hughes, Andrew C. S. Mitchell, and Andrew Greenhalgh, ‘Full gait cycle analysis of lower limb and trunk kinematics and muscle activations during walking in participants with and without ankle instability’, Gait & Posture, Vol. 64: 114-118, July 2018. Under embargo until 7 June 2019. The final, definitive version is available online at doi: https://doi.org/10.1016/j.gaitpost.2018.06.001Background Chronic ankle instability (CAI) has previously been linked to altered lower limb kinematics and muscle activation characteristics during walking, though little research has been performed analysing the full time-series across the stance and swing phases of gait. Research Question The aim of this study was to compare trunk and lower limb kinematics and muscle activity between those with chronic ankle instability and healthy controls. Methods Kinematics and muscle activity were measured in 18 (14 males, 4 females) healthy controls (age 22.4 ± 3.6 years, height 177.8 ± 7.6 cm, mass 70.4 ± 11.9 kg, UK shoe size 8.4 ± 1.6), and 18 (13 males, 5 females) participants with chronic ankle instability (age 22.0 ± 2.7 years, height 176.8 ± 7.9 cm, mass 74.1 ± 9.6 kg, UK shoe size 8.1 ± 1.9) during barefoot walking trials, using a combined Helen Hayes and Oxford foot model. Surface electromyography (sEMG) was recorded for the tibialis anterior and gluteus medius. Full curve statistical parametric mapping was performed using independent and paired-samples T-tests. Results No significant differences were observed in kinematic or sEMG variables between or within groups for the duration of the swing phase of gait. A significantly increased forefoot-tibia inversion was seen in the CAI affected limb when compared to the CAI unaffected limb at 4–16% stance (p = 0.039). No other significant differences were observed. Significance There appears to be no differences in muscle activation and movement between CAI and healthy control groups. However, participants with CAI exhibited increased inversion patterns during the stance phase of gait in their affected limb compared to their unaffected limb. This may predispose those with CAI to episodes of giving way and further ankle sprains.Peer reviewedFinal Accepted Versio

Kinematic, kinetic and electromyographic response to customized foot orthoses in patients with tibialis posterior tenosynovitis, pes plano valgus and rheumatoid arthritis

Objective. To describe the effect of customized foot orthoses (FOs) on the kinematic, kinetic and EMG features in patients with RA, tibialis posterior (TP) tenosynovitis and associated pes plano valgus.<p></p> Methods. Patients with RA and US-confirmed tenosynovitis of TP underwent gait analysis, including three-dimensional (3D) kinematics, kinetics, intramuscular EMG of TP and surface EMG of tibialis anterior, peroneus longus, soleus and medial gastrocnemius. Findings were compared between barefoot and shod with customized FO conditions.<p></p> Results. Ten patients with RA with a median (range) disease duration of 3 (1–18) years were recruited. Moderate levels of foot pain and foot-related impairment and disability were present with moderately active disease states. Altered timing of the soleus (P = 0.05) and medial gastrocnemius (P = 0.02) and increased magnitude of tibialis anterior (P = 0.03) were noted when barefoot was compared with shod with FO. Trends were noted for reduced TP activity in the contact period (P = 0.09), but this did not achieve statistical significance. Differences in foot motion characteristics were recorded for peak rearfoot eversion (P = 0.01), peak rearfoot plantarflexion (P < 0.001) and peak forefoot abduction (P = 0.02) in the shod with FOs compared with barefoot conditions. No differences in kinetic variables were recorded.<p></p> Conclusion. This study has demonstrated, for the first time, alterations in muscle activation profiles and foot motion characteristics in patients with RA, pes plano valgus and US-confirmed TP tenosynovitis in response to customized FOs. Complex adaptations were evident in this cohort and further work is required to determine whether these functional alterations lead to improvements in patient symptoms.<p></p&gt