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Biomechanics And Motor Control Of Human Movement

In recent years, we have witnessed a rapid surge in assisted living technologies due to a rapidly aging society. The aging population, the increasing cost of formal health care, the caregiver burden, and the importance that the individuals place on living independently, all motivate development of innovative-assisted living technologies for safe and independent aging. In this survey, we will summarize the emergence of `ambient-assisted living” (AAL) tools for older adults based on ambient intelligence paradigm. We will summarize the state-of-the-art AAL technologies, tools, and techniques, and we will look at current and future challenges.

A Survey on Ambient-Assisted Living Tools for Older Adults

Gait analysis using wearable sensors is an inexpensive, convenient, and efficient manner of providing useful information for multiple health-related applications. As a clinical tool applied in the rehabilitation and diagnosis of medical conditions and sport activities, gait analysis using wearable sensors shows great prospects. The current paper reviews available wearable sensors and ambulatory gait analysis methods based on the various wearable sensors. After an introduction of the gait phases, the principles and features of wearable sensors used in gait analysis are provided. The gait analysis methods based on wearable sensors is divided into gait kinematics, gait kinetics, and electromyography. Studies on the current methods are reviewed, and applications in sports, rehabilitation, and clinical diagnosis are summarized separately. With the development of sensor technology and the analysis method, gait analysis using wearable sensors is expected to play an increasingly important role in clinical applications.

/pdf/gait-analysis-using-wearable-sensors-x1b4m112uw.pdf

Gait analysis using wearable sensors.

Bio-integrated wearable systems can measure a broad range of biophysical, biochemical, and environmental signals to provide critical insights into overall health status and to quantify human performance. Recent advances in material science, chemical analysis techniques, device designs, and assembly methods form the foundations for a uniquely differentiated type of wearable technology, characterized by noninvasive, intimate integration with the soft, curved, time-dynamic surfaces of the body. This review summarizes the latest advances in this emerging field of “bio-integrated” technologies in a comprehensive manner that connects fundamental developments in chemistry, material science, and engineering with sensing technologies that have the potential for widespread deployment and societal benefit in human health care. An introduction to the chemistries and materials for the active components of these systems contextualizes essential design considerations for sensors and associated platforms that appear in f...

Bio-Integrated Wearable Systems: A Comprehensive Review

This contribution is concerned with joint angle calculation based on inertial measurement data in the context of human motion analysis. Unlike most robotic devices, the human body lacks even surfaces and right angles. Therefore, we focus on methods that avoid assuming certain orientations in which the sensors are mounted with respect to the body segments. After a review of available methods that may cope with this challenge, we present a set of new methods for: (1) joint axis and position identification; and (2) flexion/extension joint angle measurement. In particular, we propose methods that use only gyroscopes and accelerometers and, therefore, do not rely on a homogeneous magnetic field. We provide results from gait trials of a transfemoral amputee in which we compare the inertial measurement unit (IMU)-based methods to an optical 3D motion capture system. Unlike most authors, we place the optical markers on anatomical landmarks instead of attaching them to the IMUs. Root mean square errors of the knee flexion/extension angles are found to be less than 1° on the prosthesis and about 3° on the human leg. For the plantar/dorsiflexion of the ankle, both deviations are about 1°.

/pdf/imu-based-joint-angle-measurement-for-gait-analysis-2qhn2z6umj.pdf

IMU-based joint angle measurement for gait analysis.

https://usir.salford.ac.uk/37399/1/Final%20paper%20downloaded.pdf

A device for characterising the mechanical properties of the plantar soft tissue of the foot

The Design, Development and Evaluation of an Array-Based FES System with Automated Setup for the Correction of Drop Foot

Background: Usable myoelectric control relies on secure and intimate contact at all times between the electrode, the socket and the residual limb. At present, there is little post-fitting socket adjustment available to prosthetists with respect to electrode contact security or alignment. Failure to provide secure electrode contact could result in the development of motion artefacts, poor prehensor response and subsequent prosthesis non-usage.
Objectives: To establish the effect of alteration to electrode contract security and alignment on prosthesis functionality using a bespoke electrode housing unit.
Study design: This study investigated the effect of electrode contact security and alignment on upper limb myoelectric prosthesis functionality.
Methods: Four different electrode housing arrangements were assessed within prosthetic sockets fitted to six transradial prosthesis subjects using the Southampton Hand Assessment Procedure, which is a reliable and validated prosthesis functionality assessment tool.
Results: Significantly higher functionality scores were achieved with the bespoke housing unit compared to when using conventional electrode housings.
Conclusion: Myoelectric prosthesis functionality is closely linked to electrode contact security and to electrode alignment with respect to the residual limb. Both these factors can be improved locally using an adjustable electrode housing unit.

The use of an adjustable electrode housing unit to compare electrode alignment and contact variation with myoelectric prosthesis functionality: A pilot study.

The effects of body geometry on walking machine performance have been investigated, and a body design procedure proposed. The relationships between static workspace, body-geometry and installed joint torques have been derived. A body design procedure that uses this data is then described, and two design examples discussed. The procedure results in a body geometry which minimises the installed joint torques, and hence the machine weight, for the desired workspace area.

Multi-legged walking machine body design

Perception and interpretation of the terrain is essential for robot navigation, particularly in off-road areas, where terrain characteristics can be highly variable. When planning a path, features such as the terrain gradient and roughness should be considered, and they can jointly represent the traversability cost of the terrain. Despite this range of contributing factors, most cost maps are currently binary in nature, solely indicating traversible versus non-traversible areas. This work presents a joint local and global planning methodology for building continuous cost maps using LIDAR, based on a novel traversability representation of the environment. We investigate two approaches. The first, a statistical approach, computes terrain cost directly from the point cloud. The second, a learning-based approach, predicts an IMU response solely from geometric point cloud data using a 2D-Convolutional-LSTM neural network. This allows us to estimate the cost of a patch without directly driving over it, based on a data set that maps IMU signals to point cloud patches. Based on the terrain analysis, two continuous cost maps are generated to jointly select the optimal path considering distance and traversability cost for local navigation. We present a real-time terrain analysis strategy applicable for local planning, and furthermore demonstrate the straightforward application of the same approach in batch mode for global planning. Off-road autonomous driving experiments in a large and hybrid site illustrate the applicability of the method. We have made the code available online for users to test the method.

David Howard

Papers

A device for characterising the mechanical properties of the plantar soft tissue of the foot

The Design, Development and Evaluation of an Array-Based FES System with Automated Setup for the Correction of Drop Foot

The use of an adjustable electrode housing unit to compare electrode alignment and contact variation with myoelectric prosthesis functionality: A pilot study.

Multi-legged walking machine body design

How Rough Is the Path? Terrain Traversability Estimation for Local and Global Path Planning