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Gamel KM, Pinti S, Astley HC. Ground Reaction Forces and Energy Exchange During Underwater Walking. Integr Org Biol 2024; 6:obae013. [PMID: 38911182 PMCID: PMC11191838 DOI: 10.1093/iob/obae013] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/04/2023] [Revised: 03/07/2024] [Indexed: 06/25/2024] Open
Abstract
Underwater walking was a crucial step in the evolutionary transition from water to land. Underwater walkers use fins and/or limbs to interact with the benthic substrate and produce propulsive forces. The dynamics of underwater walking remain poorly understood due to the lack of a sufficiently sensitive and waterproof system to measure substrate reaction forces (SRFs). Using an underwater force plate (described in our companion paper), we quantify SRFs during underwater walking in axolotls (Ambystoma mexicanum) and Spot prawn (Pandalus platyceros), synchronized with videography. The horizontal propulsive forces were greater than the braking forces in both species to overcome hydrodynamic drag. In axolotls, potential energy (PE) fluctuations were far smaller than kinetic energy (KE) fluctuations due to high buoyant support (97%), whereas the magnitudes were similar in the prawn due to lower buoyant support (93%). However, both species show minimal evidence of exchange between KE and PE, which, along with the effects of hydrodynamic drag, is incompatible with inverted pendulum dynamics. Our results show that, despite their evolutionary links, underwater walking has fundamentally different dynamics compared with terrestrial walking and emphasize the substantial consequences of differences in body plan in underwater walking.
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Affiliation(s)
- K M Gamel
- Department of Biology, University of Akron, 235 Carroll St., Akron, OH 44325, USA
- Naval Undersea Warfare Center, Division Newport, 1176 Howell St., Newport, RI 002841, USA
| | - S Pinti
- Department of Biological Sciences, Kent State University, 800 E. Summit St, Kent, OH 44242, USA
| | - H C Astley
- Department of Biology, University of Akron, 235 Carroll St., Akron, OH 44325, USA
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Stance Phase Detection by Inertial Measurement Unit Placed on the Metacarpus of Horses Trotting on Hard and Soft Straight Lines and Circles. SENSORS 2022; 22:s22030703. [PMID: 35161452 PMCID: PMC8840150 DOI: 10.3390/s22030703] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/03/2021] [Revised: 01/06/2022] [Accepted: 01/12/2022] [Indexed: 11/23/2022]
Abstract
The development of on-board technologies has enabled the development of quantification systems to monitor equine locomotion parameters. Their relevance among others relies on their ability to determine specific locomotor events such as foot-on and heel-off events. The objective of this study was to compare the accuracy of different methods for an automatic gait events detection from inertial measurement units (IMUs). IMUs were positioned on the cannon bone, hooves, and withers of seven horses trotting on hard and soft straight lines and circles. Longitudinal acceleration and angular velocity around the latero-medial axis of the cannon bone, and withers dorso-ventral displacement data were identified to tag the foot-on and a heel-off events. The results were compared with a reference method based on hoof-mounted-IMU data. The developed method showed bias less than 1.79%, 1.46%, 3.45% and −1.94% of stride duration, respectively, for forelimb foot-on and heel-off, and for hindlimb foot-on and heel-off detection, compared to our reference method. The results of this study showed that the developed gait-events detection method had a similar accuracy to other methods developed for straight line analysis and extended this validation to other types of exercise (circles) and ground surface (soft surface).
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Clayton H, MacKechnie-Guire R, Byström A, Le Jeune S, Egenvall A. Guidelines for the Measurement of Rein Tension in Equestrian Sport. Animals (Basel) 2021; 11:ani11102875. [PMID: 34679895 PMCID: PMC8532849 DOI: 10.3390/ani11102875] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/30/2021] [Revised: 09/28/2021] [Accepted: 09/29/2021] [Indexed: 12/20/2022] Open
Abstract
Rein tension is relatively easy to measure, and the resulting data are useful for evaluating the interaction between horse and rider. To date, there have been a number of studies using different transducers, calibration methods and analytical techniques. The purpose of this paper is to make recommendations regarding the collection, analysis and reporting of rein tension data. The goal is to assist users in selecting appropriate equipment, choosing verified methods of calibration, data collection and analysis, and reporting their results consistently to facilitate comparisons between different studies. Sensors should have a suitable range and resolution together with a fast enough dynamic response, according to the gait, speed and type of riding for which they will be used. An appropriate calibration procedure is necessary before each recording session. A recording frequency of 50 Hz is adequate for most rein tension studies. The data may be analyzed using time-series methods or by extracting and analyzing discrete variables chosen in accordance with the study objectives. Consistent reporting facilitates comparisons between studies.
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Affiliation(s)
- Hilary Clayton
- Department of Large Animal Clinical Sciences, Faculty of Veterinary Medicine, Michigan State University, 736 Wilson Road, East Lansing, MI 48824, USA;
| | | | - Anna Byström
- Department of Anatomy, Physiology and Biochemistry, Faculty of Veterinary Medicine and Animal Science, Swedish University of Agricultural Sciences, P.O. Box 7046, SE-750 07 Uppsala, Sweden;
| | - Sarah Le Jeune
- Department of Surgical and Radiological Sciences, University of California, Davis, CA 95616, USA;
| | - Agneta Egenvall
- Department of Clinical Sciences, Faculty of Veterinary Medicine and Animal Science, Swedish University of Agricultural Sciences, P.O. Box 7054, SE-750 07 Uppsala, Sweden
- Correspondence:
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Tijssen M, Hernlund E, Rhodin M, Bosch S, Voskamp JP, Nielen M, Serra Braganςa FM. Automatic hoof-on and -off detection in horses using hoof-mounted inertial measurement unit sensors. PLoS One 2020; 15:e0233266. [PMID: 32492034 PMCID: PMC7269263 DOI: 10.1371/journal.pone.0233266] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/09/2019] [Accepted: 05/03/2020] [Indexed: 11/24/2022] Open
Abstract
For gait classification, hoof-on and hoof-off events are fundamental locomotion characteristics of interest. These events can be measured with inertial measurement units (IMUs) which measure the acceleration and angular velocity in three directions. The aim of this study was to present two algorithms for automatic detection of hoof-events from the acceleration and angular velocity signals measured by hoof-mounted IMUs in walk and trot on a hard surface. Seven Warmblood horses were equipped with two wireless IMUs, which were attached to the lateral wall of the right front (RF) and hind (RH) hooves. Horses were walked and trotted on a lead over a force plate for internal validation. The agreement between the algorithms for the acceleration and angular velocity signals with the force plate was evaluated by Bland Altman analysis and linear mixed model analysis. These analyses were performed for both hoof-on and hoof-off detection and for both algorithms separately. For the hoof-on detection, the angular velocity algorithm was the most accurate with an accuracy between 2.39 and 12.22 ms and a precision of around 13.80 ms, depending on gait and hoof. For hoof-off detection, the acceleration algorithm was the most accurate with an accuracy of 3.20 ms and precision of 6.39 ms, independent of gait and hoof. These algorithms look highly promising for gait classification purposes although the applicability of these algorithms should be investigated under different circumstances, such as different surfaces and different hoof trimming conditions.
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Affiliation(s)
- M. Tijssen
- Department Population Health Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - E. Hernlund
- Department of Anatomy, Physiology and Biochemistry, Swedish University of Agricultural Sciences, Uppsala, Sweden
| | - M. Rhodin
- Department of Anatomy, Physiology and Biochemistry, Swedish University of Agricultural Sciences, Uppsala, Sweden
| | - S. Bosch
- Inertia Technology B.V., Enschede, The Netherlands
- Department of Computer Science, Pervasive Systems Group, University of Twente, Enschede, The Netherlands
| | - J. P. Voskamp
- Rosmark Consultancy, Wekerom, The Netherlands
- Department Clinical Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - M. Nielen
- Department Population Health Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - F. M. Serra Braganςa
- Department Clinical Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
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Tijssen M, Hernlund E, Rhodin M, Bosch S, Voskamp JP, Nielen M, Serra Braganςa FM. Automatic detection of break-over phase onset in horses using hoof-mounted inertial measurement unit sensors. PLoS One 2020; 15:e0233649. [PMID: 32469939 PMCID: PMC7259550 DOI: 10.1371/journal.pone.0233649] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/09/2019] [Accepted: 05/09/2020] [Indexed: 11/29/2022] Open
Abstract
A prolonged break-over phase might be an indication of a variety of musculoskeletal disorders and can be measured with optical motion capture (OMC) systems, inertial measurement units (IMUs) and force plates. The aim of this study was to present two algorithms for automatic detection of the break-over phase onset from the acceleration and angular velocity signals measured by hoof-mounted IMUs in walk and trot on a hard surface. The performance of these algorithms was evaluated by internal validation with an OMC system and a force plate separately. Seven Warmblood horses were equipped with two wireless IMUs which were attached to the lateral wall of the right front (RF) and hind (RH) hooves. Horses were walked and trotted over a force plate for internal validation while simultaneously the 3D position of three reflective markers, attached to lateral heel, lateral toe and lateral coronet of each hoof, were measured by six infrared cameras of an OMC system. The performance of the algorithms was evaluated by linear mixed model analysis. The acceleration algorithm was the most accurate with an accuracy between -9 and 23 ms and a precision around 24 ms (against OMC system), and an accuracy between -37 and 20 ms and a precision around 29 ms (against force plate), depending on gait and hoof. This algorithm seems promising for quantification of the break-over phase onset although the applicability for clinical purposes, such as lameness detection and evaluation of trimming and shoeing techniques, should be investigated more in-depth.
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Affiliation(s)
- M. Tijssen
- Department Population Health Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - E. Hernlund
- Department of Anatomy, Physiology and Biochemistry, Swedish University of Agricultural Sciences, Uppsala, Sweden
| | - M. Rhodin
- Department of Anatomy, Physiology and Biochemistry, Swedish University of Agricultural Sciences, Uppsala, Sweden
| | - S. Bosch
- Inertia Technology B.V., Enschede, The Netherlands
- Department of Computer Science, Pervasive Systems Group, University of Twente, Enschede, The Netherlands
| | - J. P. Voskamp
- Rosmark Consultancy, Wekerom, The Netherlands
- Department Clinical Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - M. Nielen
- Department Population Health Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
| | - F. M. Serra Braganςa
- Department Clinical Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, The Netherlands
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Sapone M, Martin P, Ben Mansour K, Château H, Marin F. Comparison of Trotting Stance Detection Methods from an Inertial Measurement Unit Mounted on the Horse's Limb. SENSORS 2020; 20:s20102983. [PMID: 32466104 PMCID: PMC7288211 DOI: 10.3390/s20102983] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/10/2020] [Revised: 05/14/2020] [Accepted: 05/22/2020] [Indexed: 11/16/2022]
Abstract
The development of on-board sensors, such as inertial measurement units (IMU), has made it possible to develop new methods for analyzing horse locomotion to detect lameness. The detection of spatiotemporal events is one of the keystones in the analysis of horse locomotion. This study assesses the performance of four methods for detecting Foot on and Foot off events. They were developed from an IMU positioned on the canon bone of eight horses during trotting recording on a treadmill and compared to a standard gold method based on motion capture. These methods are based on accelerometer and gyroscope data and use either thresholding or wavelets to detect stride events. The two methods developed from gyroscopic data showed more precision than those developed from accelerometric data with a bias less than 0.6% of stride duration for Foot on and 0.1% of stride duration for Foot off. The gyroscope is less impacted by the different patterns of strides, specific to each horse. To conclude, methods using the gyroscope present the potential of further developments to investigate the effects of different gait paces and ground types in the analysis of horse locomotion.
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Affiliation(s)
- Marie Sapone
- Université de Technologie de Compiègne, Alliance Sorbonne Université, UMR CNRS 7338 BioMécanique et BioIngénierie, 60200 Compiègne, France; (K.B.M.) ; (F.M.)
- Ecole Nationale Vétérinaire d’Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France; (P.M.) ; (H.C.)
- LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France
- Correspondence:
| | - Pauline Martin
- Ecole Nationale Vétérinaire d’Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France; (P.M.) ; (H.C.)
- LIM France, Chemin Fontaine de Fanny, 24300 Nontron, France
| | - Khalil Ben Mansour
- Université de Technologie de Compiègne, Alliance Sorbonne Université, UMR CNRS 7338 BioMécanique et BioIngénierie, 60200 Compiègne, France; (K.B.M.) ; (F.M.)
| | - Henry Château
- Ecole Nationale Vétérinaire d’Alfort, USC INRAE-ENVA 957 BPLC, CWD-VetLab, 94700 Maisons-Alfort, France; (P.M.) ; (H.C.)
| | - Frédéric Marin
- Université de Technologie de Compiègne, Alliance Sorbonne Université, UMR CNRS 7338 BioMécanique et BioIngénierie, 60200 Compiègne, France; (K.B.M.) ; (F.M.)
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Basu CK, Deacon F, Hutchinson JR, Wilson AM. The running kinematics of free-roaming giraffes, measured using a low cost unmanned aerial vehicle (UAV). PeerJ 2019; 7:e6312. [PMID: 30775166 PMCID: PMC6376938 DOI: 10.7717/peerj.6312] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/30/2018] [Accepted: 12/19/2018] [Indexed: 01/03/2023] Open
Abstract
The study of animal locomotion can be logistically challenging, especially in the case of large or unhandleable animals in uncontrolled environments. Here we demonstrate the utility of a low cost unmanned aerial vehicle (UAV) in measuring two-dimensional running kinematics from free-roaming giraffes (Giraffa camelopardalis giraffa) in the Free State Province, South Africa. We collected 120 Hz video of running giraffes, and calibrated each video frame using metatarsal length as a constant object of scale. We tested a number of methods to measure metatarsal length. The method with the least variation used close range photography and a trigonometric equation to spatially calibrate the still image, and derive metatarsal length. In the absence of this option, a spatially calibrated surface model of the study terrain was used to estimate topographical dimensions in video footage of interest. Data for the terrain models were collected using the same equipment, during the same study period. We subsequently validated the accuracy of the UAV method by comparing similar speed measurements of a human subject running on a treadmill, with treadmill speed. At 8 m focal distance we observed an error of 8% between the two measures of speed. This error was greater at a shorter focal distance, and when the subject was not in the central field of view. We recommend that future users maximise the camera focal distance, and keep the subject in the central field of view. The studied giraffes used a grounded rotary gallop with a speed range of 3.4–6.9 ms−1 (never cantering, trotting or pacing), and lower duty factors when compared with other cursorial quadrupeds. As this pattern might result in adverse increases in peak vertical limb forces with speed, it was notable to find that contralateral limbs became more in-phase with speed. Considering the latter pattern and the modest maximal speed of giraffes, we speculate that tissue safety factors are maintained within tolerable bounds this way. Furthermore, the angular kinematics of the neck were frequently isolated from the pitching of the body during running; this may be a result of the large mass of the head and neck. Further field experiments and biomechanical models are needed to robustly test these speculations.
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Affiliation(s)
- Christopher K Basu
- Structure & Motion Laboratory, Royal Veterinary College, Hatfield, United Kingdom
| | - Francois Deacon
- Faculty of Natural and Agricultural Sciences, Department of Animal, Wildlife and Grassland Sciences, University of the Free State, Bloemfontein, South Africa
| | - John R Hutchinson
- Structure & Motion Laboratory, Royal Veterinary College, Hatfield, United Kingdom
| | - Alan M Wilson
- Structure & Motion Laboratory, Royal Veterinary College, Hatfield, United Kingdom
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Basu C, Wilson AM, Hutchinson JR. The locomotor kinematics and ground reaction forces of walking giraffes. J Exp Biol 2018; 222:jeb.159277. [DOI: 10.1242/jeb.159277] [Citation(s) in RCA: 26] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/10/2017] [Accepted: 11/07/2018] [Indexed: 11/20/2022]
Abstract
Giraffes (Giraffa camelopardalis Linnaeus 1758) possess specialised anatomy. Their disproportionately elongate limbs and neck confer recognised feeding advantages, but little is known about how their morphology affects locomotor function. In this study, we examined the stride parameters and ground reaction forces from three adult giraffes in a zoological park, across a range of walking speeds. The patterns of GRFs during walking indicate that giraffes, similar to other mammalian quadrupeds, maintain a forelimb-biased weight distribution. The angular excursion of the neck has functional links with locomotor dynamics in giraffes, and was exaggerated at faster speeds. The horizontal accelerations of the neck and trunk were out of phase, compared with the vertical accelerations which were intermediate between in and out of phase. Despite possessing specialised morphology, giraffes’ stride parameters were broadly predicted from dynamic similarity, facilitating the use of other quadrupedal locomotion models to generate testable hypotheses in giraffes.
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Affiliation(s)
- Christopher Basu
- Structure & Motion Laboratory, Royal Veterinary College, Hawkshead Lane, North Mymms, Hatfield, Hertfordshire, AL9 7TA, UK
| | - Alan M. Wilson
- Structure & Motion Laboratory, Royal Veterinary College, Hawkshead Lane, North Mymms, Hatfield, Hertfordshire, AL9 7TA, UK
| | - John R. Hutchinson
- Structure & Motion Laboratory, Royal Veterinary College, Hawkshead Lane, North Mymms, Hatfield, Hertfordshire, AL9 7TA, UK
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Holt D, St George LB, Clayton HM, Hobbs SJ. A simple method for equine kinematic gait event detection. Equine Vet J 2017; 49:688-691. [DOI: 10.1111/evj.12669] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/24/2016] [Accepted: 01/18/2017] [Indexed: 11/30/2022]
Affiliation(s)
- D. Holt
- Department of Research Myerscough College Preston UK
| | - L. B. St George
- Centre for Applied Sport and Exercise Sciences University of Central Lancashire Preston UK
| | | | - S. J. Hobbs
- Centre for Applied Sport and Exercise Sciences University of Central Lancashire Preston UK
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Bragança FM, Bosch S, Voskamp JP, Marin-Perianu M, Van der Zwaag BJ, Vernooij JCM, van Weeren PR, Back W. Validation of distal limb mounted inertial measurement unit sensors for stride detection in Warmblood horses at walk and trot. Equine Vet J 2016; 49:545-551. [PMID: 27862238 PMCID: PMC5484301 DOI: 10.1111/evj.12651] [Citation(s) in RCA: 23] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/25/2016] [Accepted: 11/04/2016] [Indexed: 11/26/2022]
Abstract
Background Inertial measurement unit (IMU) sensor‐based techniques are becoming more popular in horses as a tool for objective locomotor assessment. Objectives To describe, evaluate and validate a method of stride detection and quantification at walk and trot using distal limb mounted IMU sensors. Study design Prospective validation study comparing IMU sensors and motion capture with force plate data. Methods A total of seven Warmblood horses equipped with metacarpal/metatarsal IMU sensors and reflective markers for motion capture were hand walked and trotted over a force plate. Using four custom built algorithms hoof‐on/hoof‐off timing over the force plate were calculated for each trial from the IMU data. Accuracy of the computed parameters was calculated as the mean difference in milliseconds between the IMU or motion capture generated data and the data from the force plate, precision as the s.d. of these differences and percentage of error with accuracy of the calculated parameter as a percentage of the force plate stance duration. Results Accuracy, precision and percentage of error of the best performing IMU algorithm for stance duration at walk were 28.5, 31.6 ms and 3.7% for the forelimbs and −5.5, 20.1 ms and −0.8% for the hindlimbs, respectively. At trot the best performing algorithm achieved accuracy, precision and percentage of error of −27.6/8.8 ms/−8.4% for the forelimbs and 6.3/33.5 ms/9.1% for the hindlimbs. Main limitations The described algorithms have not been assessed on different surfaces. Conclusions Inertial measurement unit technology can be used to determine temporal kinematic stride variables at walk and trot justifying its use in gait and performance analysis. However, precision of the method may not be sufficient to detect all possible lameness‐related changes. These data seem promising enough to warrant further research to evaluate whether this approach will be useful for appraising the majority of clinically relevant gait changes encountered in practice.
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Affiliation(s)
- F M Bragança
- Department of Equine Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, the Netherlands
| | - S Bosch
- Inertia Technology B.V., Enschede, the Netherlands.,Department of Computer Science, Pervasive Systems Group, University of Twente, Enschede, the Netherlands
| | - J P Voskamp
- Rosmark Consultancy, Wekerom, the Netherlands
| | | | | | - J C M Vernooij
- Department of Farm Animal Health, Faculty of Veterinary Medicine, Utrecht, the Netherlands
| | - P R van Weeren
- Department of Equine Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, the Netherlands
| | - W Back
- Department of Equine Sciences, Faculty of Veterinary Medicine, Utrecht University, Utrecht, the Netherlands.,Department of Surgery and Anaesthesiology, Faculty of Veterinary Medicine, Ghent University, Merelbeke, Belgium
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