Moment measurement accuracy of a parallel spherical robot for dynamic posturography

Measurement of Human Walking Movements by Using a Mobile Health App: Motion Sensor Data Analysis

Background

This study presents a new approach to measure and analyze the walking balance of humans by collecting motion sensor data in a smartphone.

Objective

We aimed to develop a mobile health (mHealth) app that can measure the walking movements of human individuals and analyze the differences in the walking movements of different individuals based on their health conditions. A smartphone’s motion sensors were used to measure the walking movements and analyze the rotation matrix data by calculating the variation of each xyz rotation, which shows the variables in walking-related movement data over time.

Methods

Data were collected from 3 participants, that is, 2 healthy individuals (1 female and 1 male) and 1 male with back pain. The participant with back pain injured his back during strenuous exercise but he did not have any issues in walking. The participants wore the smartphone in the middle of their waistline (as the center of gravity) while walking. They were instructed to walk straight at their own pace in an indoor hallway of a building. The walked a distance of approximately 400 feet. They walked for 2-3 minutes in a straight line and then returned to the starting location. A rotation vector in the smartphone, calculated by the rotation matrix, was used to measure the pitch, roll, and yaw angles of the human body while walking. Each xyz-rotation vector datum was recalculated to find the variation in each participant’s walking movement.

Results

The male participant with back pain showed a diminished level of walking balance with a wider range of xyz-axis variations in the rotations compared to those of the healthy participants. The standard deviation in the xyz-axis of the male participant with back pain was larger than that of the healthy male participant. Moreover, the participant with back pain had the widest combined range of right-to-left and forward-to-backward motions. The healthy male participant showed smaller standard deviation while walking than the male participant with back pain and the female healthy participant, indicating that the healthy male participant had a well-balanced walking movement. The walking movement of the female healthy participant showed symmetry in the left-to-right (x-axis) and up-to-down (y-axis) motions in the x-y variations of rotation vectors, indicating that she had lesser bias in gait than the others.

Conclusions

This study shows that our mHealth app based on smartphone sensors and rotation vectors can measure the variations in the walking movements of different individuals. Further studies are needed to measure and compare walking movements by age, gender, as well as types of health problems or disease. This app can help in finding differences in gait in people with diseases that affect gait.

Development of a dynamic oriented rehabilitative integrated system

Moving platform are introduced in the field of the study of posturography since '70 years. Commercial platforms have some limits: a limited number of degrees of freedom; preconfigured protocols and usually they are expensive. In order to overcome these limits, we developed a robotized platform: DORIS. We aimed at realizing a versatile solution that can be applied both for research purpose but also for personalizing the training of equilibrium and gait. We reached these goals by means of a Stewart platform that was realized with linear actuators and a supporting plate. Each actuator is provided by a monoaxial ad hoc built load cell. Position and force control allow a multipurpose range of movement and a reactive interaction with the force applied by the subject. TCP/IP protocol guarantees the communication between the platform and other systems. Therefore, we integrated DORIS with motion analysis system, EMG system and virtual reality. The adopted solution offers the opportunity to manipulate available information by means of different coupling of visual, vestibular and plantar feet pressure inputs. The full control of its movement and of human dynamic interaction is a further benefit for the identification of innovative solutions for research and physical rehabilitation in a field that is strongly investigated, but still open.

Counteracting Postural Perturbations Through Body Weight Shift: a Pilot Study Using a Robotic Platform in Subjects with Parkinson's Disease

Abnormalities of body-weight transfer occur during several motor tasks in people with Parkinson's disease (PwPD). In this study, a novel robotic paradigm for assessment and training of dynamic balance was developed and applied to twelve healthy subjects (HS) and ten PwPD to verify its feasibility and to assess the capability of PwPD to counteract postural perturbations through body-weight shifts. At variance with other robotic paradigms, subjects had to react as fast as possible to the perturbation, bringing the platform back to the horizontal and keeping it until the end of the task. Four randomized perturbations, obtained varying the platform equilibrium angle from 0° to ±6° in sagittal (backward, forward) and frontal (right, left) planes, were repeated 3 times. Compared to HS, PwPD showed, in all perturbation directions, increased delay in counteraction phase onset (p<=0.01), prolonged time to stabilize the platform (p<=0.02), and higher deviation of the final plate inclination from the horizontal (p<=0.04), the deviation being larger during sagittal perturbations. PwPD showed also larger (p=0.01) postural sway around the stabilization angle following frontal perturbations. Results are in keeping with known hypo- and bradykinesia as well as proprioceptive and kinesthetic impairments in PD. We suggest that the proposed approach is feasible and might be included in balance evaluation and training in PD.

In Memoriam: Paolo Cappa

Prof. Paolo Cappa passed away on 26 August 2016, at the age of 59, after a long and courageous fight against cancer. Paolo Cappa was a Professor in Mechanical and Thermal Measurements and Experimental Biomechanics in the Department of Mechanical and Aerospace Engineering of Sapienza University of Rome, where he had also served as the Head of the Department, and a Research Professor in the Department of Mechanical and Aerospace Engineering of New York University Tandon School of Engineering. During his intense, yet short, career, he made several significant scientific contributions within the discipline of Mechanical and Thermal Measurements, pioneering fundamental applications to Biomechanics. He co-founded the Motion Analysis and Robotics Laboratory (MARLab) within the Neurorehabilitation Division of IRCCS Pediatric Hospital “Bambino Gesu”, in Rome, to fuel transitional research from the laboratory to clinical practice. Through collaboration with neurologists and physiatrists at MARLab, Prof. Cappa led the development of a powerful array of novel mechanical solutions to wearable robotics for pediatric patients, addressing dramatic needs for children’s health and contributing to the training of an entire generation of Mechanical Engineering students.

Quantification of postural stability in minimally disabled multiple sclerosis patients by means of dynamic posturography: an observational study

BACKGROUND

Multiple Sclerosis (MS) is a widespread progressive neurologic disease with consequent impairments in daily activities. Disorders of balance are frequent and equilibrium tests are potentially useful to quantify disability and to verify treatment effectiveness. The fair sensitivity of the widely used not-perturbed tests to detect balance disturbances in MS patients have prompted the development of mechatronic systems capable to impose known equilibrium perturbations, in order to challenge the balance control and, consequently, to better assess the level of impairment. We sought to clarify whether the proposed perturbed-test is capable to discriminate healthy subjects from patients with MS, even in mild or in the absence of clinically evident balance disturbances.

METHODS

We assessed balance performances of 17 adults with MS and 13 age-matched healthy controls (HC) using both perturbed (PT) and not-perturbed (NPT) postural tests by means of a 3 Degree Of Freedom (DOF) rotational mechatronic platform. Participants stood barefoot on the platform in standing position and their center of pressure (CoP) was gathered by using a pressure matrix. Each trial lasted 30 s and was carried out with and without visual stimuli. Several postural indices were computed for each trial. Correlations between postural indices and clinical scales were analyzed.

RESULTS

No significant differences were found between groups for all indices when subjects performed NPTs. Conversely, significant differences in postural indices between MS and HC emerged during PTs. Additionally, PTs revealed significant differences between patients without any cerebellar impairment (cerebellar EDSS subscore equal to 0) and HC. The discrimination capability of PTs was confirmed by the ROC analysis. No significant change of the selected metrics occurred in HC when NPTs were performed with eyes closed, while indices presented a significant worsening in MS subjects.

CONCLUSIONS

Not-perturbed tests showed lower sensitivity than perturbed ones in the identification of equilibrium impairments in minimally disabled MS patients. However, not-perturbed tests allow to better evaluate the influence of visual flow disturbances on balance control in MS. In conclusion, our findings proved that the use of the novel tests based on a 3DOF mechatronic device represents an effective tool to investigate early balance disturbances in MS.

Upper body balance control strategy during continuous 3D postural perturbation in young adults

We explored how changes in vision and perturbation frequency impacted upright postural control in healthy adults exposed to continuous multiaxial support-surface perturbation. Ten subjects were asked to maintain equilibrium in standing stance with eyes open (EO) and eyes closed (EC) during sinusoidal 3D rotations at 0.25 (L) and 0.50 Hz (H). We measured upper-body kinematics--head, trunk, and pelvis--and analyzed differences in horizontal displacements and roll, pitch, and yaw sways. The presence of vision significantly decreased upper-body displacements in the horizontal plane, especially at the head level, while in EC the head was the most unstable segment. H trials produced a greater segment stabilization compared to L ones in EO and EC. Analysis of sways showed that in EO participants stabilized their posture by reducing the variability of trunk angles; in H trials a sway decrease for the examined segments was observed in the yaw plane and, for the pelvis only, in the pitch plane. Our results suggest that, during continuous multiaxial perturbations, visual information induced: (i) in L condition, a continuous reconfiguration of multi-body-segments orientation to follow the perturbation; (ii) in H condition, a compensation for the ongoing perturbation. These findings were not confirmed in EC where the same strategy--that is, the use of the pelvis as a reference frame for the body balance was adopted both in L and H.

Design of multiple axis robotic platform for postural stability analysis

This paper presents the design and implementation of IsiMove, a new dynamic posturography platform. It allows the evaluation of the static and dynamic balance of a human placed on a force plate. IsiMove is a robotic platform open kinematic with four degrees of freedom: anteroposterior tilt, mediolateral tilt, vertical rotation, and horizontal translation. It is capable of measuring the displacement of the center of pressure over time, with a resolution of 0.1 mm for each foot and support a human of about 120 kg. IsiMove can generate various types of balance perturbations based on parameters such as direction, amplitude, frequency and shape. In this paper, we will give a description of the mechanisms that constitute our platform. First, the technical specifications of the hardware and software architecture will be presented. Then, we will provide details related to extensive experimental evaluations of the platform in both static and dynamic condition as well as result of postural stability analysis with healthy subjects and stroke patients.

A 3-DOF parallel robot with spherical motion for the rehabilitation and evaluation of balance performance

In this paper a novel electrically actuated parallel robot with three degrees-of-freedom (3 DOF) for dynamic postural studies is presented. The design has been described, the solution to the inverse kinematics has been found, and a numerical solution for the direct kinematics has been proposed. The workspace of the implemented robot is characterized by an angular range of motion of about ±10° for roll and pitch when yaw is in the range ±15°. The robot was constructed and the orientation accuracy was tested by means of an optoelectronic system and by imposing a sinusoidal input, with a frequency of 1 Hz and amplitude of 10°, along the three axes, in sequence. The collected data indicated a phase delay of 1° and an amplitude error of 0.5%-1.5%; similar values were observed for cross-axis sensitivity errors. We also conducted a clinical application on a group of normal subjects, who were standing in equilibrium on the robot base with eyes open (EO) and eyes closed (EC), which was rotated with a tri-axial sinusoidal trajectory with a frequency of 0.5 Hz and amplitude 5° for roll and pitch and 10° for the yaw. The postural configuration of the subjects was recorded with an optoelectronic system. However, due to the mainly technical nature of this paper, only initial validation outcomes are reported here. The clinical application showed that only the tilt and displacement on the sagittal pane of head, trunk, and pelvis in the trials conducted with eyes closed were affected by drift and that the reduction of the yaw rotation and of the mediolateral translation was not a controlled parameter, as happened, instead, for the other anatomical directions.