Human movement analysis using stereophotogrammetry. Part 1: theoretical background.

Background: The effectiveness of anterior cruciate ligament reconstruction for restoring normal knee kinematics is largely unknown, particularly during sports movements generating large, rapidly applied forces.Hypothesis: Under dynamic in vivo loading, significant differences in 3-dimensional kinematics exist between anterior cruciate ligament-reconstructed knees and the contralateral, uninjured knees.Study Design: Prospective, in vivo laboratory study.Methods: Kinematics of anterior cruciate ligament-reconstructed and contralateral (uninjured) knees were evaluated for 6 subjects during downhill running 4 to 12 months after anterior cruciate ligament reconstruction, using a 250 frame/s stereoradiographic system. Anatomical reference axes were determined from computed tomography scans. Kinematic differences between the uninjured and reconstructed limbs were evaluated with a repeated-measures analysis of variance.Results: Anterior tibial translation was similar for the reconstructed and uninjured limbs. How...

Abnormal Rotational Knee Motion During Running After Anterior Cruciate Ligament Reconstruction

Human movement analysis using stereophotogrammetry. Part 2: instrumental errors.

Wearable robots based on soft materials will augment mobility and performance of the host without restricting natural kinematics. Such wearable robots will need soft sensors to monitor the movement of the wearer and robot outside the lab. Until now wearable soft sensors have not demonstrated significant mechanical robustness nor been systematically characterized for human motion studies of walking and running. Here, we present the design and systematic characterization of a soft sensing suit for monitoring hip, knee, and ankle sagittal plane joint angles. We used hyper-elastic strain sensors based on microchannels of liquid metal embedded within elastomer, but refined their design with the use of discretized stiffness gradients to improve mechanical durability. We found that these robust sensors could stretch up to 396% of their original lengths, would restrict the wearer by less than 0.17% of any given joint's torque, had gauge factor sensitivities of greater than 2.2, and exhibited less than 2% change in electromechanical specifications through 1500 cycles of loading-unloading. We also evaluated the accuracy and variability of the soft sensing suit by comparing it with joint angle data obtained through optical motion capture. The sensing suit had root mean square (RMS) errors of less than 5Â° for a walking speed of 0.89 m/s and reached a maximum RMS error of 15Â° for a running speed of 2.7 m/s. Despite the deviation of absolute measure, the relative repeatability of the sensing suit's joint angle measurements were statistically equivalent to that of optical motion capture at all speeds. We anticipate that wearable soft sensing will also have applications beyond wearable robotics, such as in medical diagnostics and in human-computer interaction.

Wearable soft sensing suit for human gait measurement

Little is known about the three-dimensional behavior of the anterior cruciate ligament (ACL) reconstructed knee during dynamic, functional loading, or how dynamic knee function changes over time in the reconstructed knee. We hypothesized dynamic, in vivo function of the ACL-reconstructed knee is different from the contralateral, uninjured knee and changes over time. We measured knee kinematics for 16 subjects during downhill running 5 and 12 months after ACL reconstruction (bone-patellar tendon-bone or quadrupled hamstring tendon with interference screw fixation) using a 250 frame per second stereoradiographic system. We used repeated-measures ANOVA to ascertain whether there were differences between the uninjured and reconstructed limbs and over time. We found no differences in anterior tibial translation between limbs, but reconstructed knees were more externally rotated and in more adduction (varus) during the stance phase of running. Anterior tibial translation increased from 5 to 12 months after surgery in the reconstructed knees. Anterior cruciate ligament reconstruction failed to restore normal rotational knee kinematics during dynamic, functional loading and some degradation of graft function occurred over time. These abnormal motions may contribute to long-term joint degeneration associated with ACL injury and reconstruction.

Dynamic function of the ACL-reconstructed knee during running.

When three-dimensional (3-D) human or animal movement is recorded using a photogrammetric system, bone-embedded frame positions and orientations are estimated from reconstructed surface marker trajectories using either nonoptimal or optimal algorithms. The effectiveness of these mathematical procedures in accommodating for both photogrammetric errors and skin movement artifacts depends on the number of markers associated with a given bone as well as on the size and shape characteristics of the relevant cluster. One objective of this paper deals with the identification of marker cluster design criteria aimed at the minimization of error propagation from marker coordinates to bone-embedded frame position and orientation. Findings allow for the quantitative estimation of these errors for any given cluster configuration and suggest the following main design criteria. A cluster made up of four markers represents a good practical compromise. Planar clusters are acceptable, provided in quasi-isotropic distribution. The root mean square distance of the markers from their centroid should be greater than ten times the standard deviation of the marker position error. The second objective of this paper deals with the identification of the optimal cluster position and orientation on the limb aimed at the minimization of error propagation to anatomical landmark laboratory coordinates. Cluster position should be selected to minimize skin movement artifacts. The longest principal axis of the marker distribution should be oriented toward the relevant anatomical landmark position.

F. Pensalfini

Papers

Surface-marker cluster design criteria for 3-D bone movement reconstruction