| 1. |
- Halvorsen, Kjartan, et al.
(författare)
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Tracking the Motion of Hidden Segments Using Kinematic Constraints and Kalman Filtering
- 2008
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Ingår i: Journal of Biomechanical Engineering. - : ASME International. - 0148-0731 .- 1528-8951. ; 130:1, s. 011012:1-9
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Tidskriftsartikel (refereegranskat)abstract
- Motion capture for biomechanical applications involves in almost all cases sensors or markers that are applied to the skin of the body segments of interest. This paper deals with the problem of estimating the movement of connected skeletal segments from 3D position data of markers attached to the skin. The use of kinematic constraints has been shown previously to reduce the error in estimated segment movement that are due to skin and muscles moving with respect to the underlying segment. A kinematic constraint reduces the number of degrees of freedom between two articulating segments. Moreover, kinematic constraints can help reveal the movement of some segments when the 3D marker data otherwise are insufficient. Important cases include the human ankle complex and the phalangeal segments of the horse, where the movement of small segments is almost completely hidden from external observation by joint capsules and ligaments. This paper discusses the use of an extended Kalman filter for tracking a system of connected segments. The system is modeled using rigid segments connected by simplified joint models. The position and orientation of the mechanism are specified by a set of generalized coordinates corresponding to the mechanism’s degrees of motion. The generalized coordinates together with their first time derivatives can be used as the state vector of a state space model governing the kinematics of the mechanism. The data collected are marker trajectories from skin-mounted markers, and the state vector is related to the position of the markers through a nonlinear function. The Jacobian of this function is derived. The practical use of the method is demonstrated on a model of the distal part of the limb of the horse. Monte Carlo simulations of marker data for a two-segment system connected by a joint with three degrees of freedom indicate that the proposed method gives significant improvement over a method, which does not make use of the joint constraint, but the method requires that the model is a good approximation of the true mechanism. Applying the method to data on the movement of the four distal-most segments of the horse’s limb shows good between trial consistency and small differences between measured marker positions and marker positions predicted by the model.
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| 2. |
- Crommert, Martin Eriksson, 1974-, et al.
(författare)
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Trunk muscle activation at the initiation and braking of bilateral shoulder flexion movements of different amplitudes
- 2015
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Ingår i: PLOS ONE. - : PUBLIC LIBRARY SCIENCE. - 1932-6203. ; 10:11
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Tidskriftsartikel (refereegranskat)abstract
- The aim of this study was to investigate if trunk muscle activation patterns during rapid bilateral shoulder flexions are affected by movement amplitude. Eleven healthy males performed shoulder flexion movements starting from a position with arms along sides (0°) to either 45°, 90° or 180°. EMG was measured bilaterally from transversus abdominis (TrA), obliquus internus (OI) with intra-muscular electrodes, and from rectus abdominis (RA), erector spinae (ES) and deltoideus with surface electrodes. 3D kinematics was recorded and inverse dynamics was used to calculate the reactive linear forces and torque about the shoulders and the linear and angular impulses. The sequencing of trunk muscle onsets at the initiation of arm movements was the same across movement amplitudes with ES as the first muscle activated, followed by TrA, RA and OI. All arm movements induced a flexion angular impulse about the shoulders during acceleration that was reversed during deceleration. Increased movement amplitude led to shortened onset latencies of the abdominal muscles and increased level of activation in TrA and ES. The activation magnitude of TrA was similar in acceleration and deceleration where the other muscles were specific to acceleration or deceleration. The findings show that arm movements need to be standardized when used as a method to evaluate trunk muscle activation patterns and that inclusion of the deceleration of the arms in the analysis allow the study of the relationship between trunk muscle activation and direction of perturbing torque during one and the same arm movement.
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| 3. |
- Elmgren Frykberg, Gunilla, 1957-, et al.
(författare)
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Temporal coordination of the sit-to-walk task in subjects with stroke and in controls
- 2009
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Ingår i: Archives of Physical Medicine and Rehabilitation. - : Elsevier BV. - 0003-9993 .- 1532-821X. ; 90:6, s. 1009-1017
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Tidskriftsartikel (refereegranskat)abstract
- Objectives: To explore events and describe phases for temporal coordination of the sit-to-walk (STW) task, within a semistandardized set up, in subjects with stroke and matched controls. In addition, to assess variability of STW phase duration and to compare the relative duration of STW phases between the 2 groups.Design: Cross-sectional.Setting: Research laboratory.Participants: A convenience sample of persons with hemiparesis (n=10; age 50–67y), more than 6 months after stroke and 10 controls matched for sex, age, height, and body mass index.Interventions: Not applicable.Main Outcome Measures: Relative duration of STW phases, SE of measurement in percentage of the mean, and intraclass correlation coefficients (ICCs).Results: Four STW phases were defined: rise preparation, transition, primary gait initiation, and secondary gait initiation. The subjects with stroke needed 54% more time to complete the STW task than the controls did. ICCs ranged from .38 to .66 and .22 to .57 in the stroke and control groups, respectively. SEs of measurement in percentage of the mean values were high, particularly in the transition phase: 54.1% (stroke) and 50.4% (controls). The generalized linear model demonstrated that the relative duration of the transition phase was significantly longer in the stroke group.Conclusions: The present results extend existing knowledge by presenting 4 new phases of temporal coordination of STW, within a semistandardized set-up, in persons with stroke and in controls. The high degree of variability regarding relative STW phase duration was probably a result of both the semistandardized set up and biological variability. The significant difference in the transition phase across the 2 groups requires further study.
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| 4. |
- Halvorsen, Kjartan, et al.
(författare)
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The concept of mobility in single- and double handed manipulation.
- 2014
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Ingår i: Journal of Biomechanics. - : Elsevier BV. - 0021-9290 .- 1873-2380. ; 47:14, s. 3569-3573
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Tidskriftsartikel (refereegranskat)abstract
- The concept of mobility describes an important property of the human body when performing manipulation tasks. It describes, in a sense, how easy it is to accelerate a link or a point on the manipulator. Most often it is calculated for the end-link or end-point of the manipulator, since these are important for the control objective of the manipulator. Mobility is the inverse of the inertia experienced by a force acting on the end-point, or a combined force and torque acting on the end-link. The concept has been used in studies of reaching tasks with one arm, but thus far not for bi-manual manipulation. We present here the concept for both single-handed and double-handed manipulation, in a general manner which includes any type of grip of the hands on the object. The use of the concept is illustrated with data on the left and right arm in a golf swing.
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| 5. |
- Nilsson, Johnny, et al.
(författare)
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Kinematic, kinetic and electromyographic adaptation to speed and resistance in double poling cross country skiing
- 2013
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Ingår i: European Journal of Applied Physiology. - : Springer Science and Business Media LLC. - 1439-6319 .- 1439-6327. ; 113:6, s. 1385-1394
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Tidskriftsartikel (refereegranskat)abstract
- This study incorporated variations in speed and the horizontal resistance acting upon elite female skiers during double poling (DP) on a treadmill and specifically analyzed biomechanical adaptations to these variations. Whole body kinematics and pole force data were recorded and used to calculate the moment of force acting on the shoulder and elbow joints. Data were obtained with a 3D optoelectronic system using reflective markers at given anatomical landmarks. Forces along the long axis of the right pole were measured with a piezoelectric force transducer. Surface electrodes were used to record EMG activity in the rectus femoris, rectus abdominis, latissimus dorsi and triceps brachii muscles. In a first set of recordings, the participants double poled with zero elevation at five different speeds from 8 to 17 km h(-1). In a second set of recordings, horizontal resistance was added by weights (0.4-1.9 kg) attached to a pulley system pulling the skier posteriorly during DP at 14 km h(-1). Results showed increasing relative duration of the thrust phase with increasing resistance, but not with speed. Significant kinematic differences occurred with increase in both speed and resistance. The mean (+/- SD) horizontal force components ranged between 1.7 (+/- 1.3) and 2.8 (+/- 1.1) percent (%) bodyweight (BW) in the speed adaptation and 3.1 (+/- 0.6) and 4.0 (+/- 1.3) % BW in the adaptation to horizontal resistance. Peak muscle activity showed a central to peripheral (proximo-distal) activation sequence. The temporal cycle phase pattern in the adaptation to speed and horizontal resistance differed.
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| 6. |
- Tinmark, Fredrik, et al.
(författare)
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Elite golfers' kinematic sequence in full-swing and partial-swing shots
- 2010
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Ingår i: SPORT BIOMECH. - : Informa UK Limited. - 1476-3141 .- 1752-6116. ; 9:4, s. 236-244
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Tidskriftsartikel (refereegranskat)abstract
- The aim of this study was to investigate whether kinematic proximal-to-distal sequencing (PDS) and speed-summation are common characteristics of both partial and full-swing shots in golf players of different skill levels and genders. A total of 45 golfers participated, 11 male tournament professionals, 21 male and 13 female elite amateurs. They performed partial shots with a wedge to targets at three submaximal distances, 40, 55 and 70m, and full-swing shots with a 5 iron and a driver for maximal distance. Pelvis, upper torso and hand movements were recorded in 3D with an electromagnetic tracking system (Polhemus Liberty) at 240Hz and the magnitude of the resultant angular velocity vector of each segment was computed. The results showed a significant proximal-to-distal temporal relationship and a concomitant successive increase in maximum (peak) segment angular speed in every shot condition for both genders and levels of expertise. A proximal-to-distal utilization of interaction torques is indicated. Using a common PDS movement strategy in partial and full-swing golf shots appears beneficial from mechanical and control points of view and could serve the purpose of providing both high speed and accuracy.
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| 7. |
- Åberg, Anna Cristina, et al.
(författare)
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Calculations of mechanisms for balance control during narrow and single-leg standing in fit older adults: A reliability study.
- 2011
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Ingår i: Gait & Posture. - : Elsevier BV. - 0966-6362 .- 1879-2219. ; 34:3, s. 352-7
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Tidskriftsartikel (refereegranskat)abstract
- For older people balance control in standing is critical for performance of activities of daily living without falling. The aims were to investigate reliability of quantification of the usage of the two balance mechanisms M1 ‘moving the centre of pressure’ and M2 ‘segment acceleration’ and also to compare calculation methods based on a combination of kinetic (K) and kinematic (Km) data, (K–Km), or Km data only concerning M2. For this purpose nine physically fit persons aged 70–78 years were tested in narrow and single-leg standing. Data were collected by a 7-camera motion capture system and two force plates. Repeated measure ANOVA and Tukey's post hoc tests were used to detect differences between the standing tasks. Reliability was estimated by ICCs, standard error of measurement including its 95% CI, and minimal detectable change, whereas Pearson's correlation coefficient was used to investigate agreement between the two calculation methods. The results indicated that for the tasks investigated, M1 and M2 can be measured with acceptable inter- and intrasession reliability, and that both Km and K–Km based calculations may be useful for M2, although Km data may give slightly lower values. The proportional M1:M2 usage was approximately 9:1, in both anterio-posterior (AP) and medio-lateral (ML) directions for narrow standing, and about 2:1 in the AP and of 1:2 in the ML direction in single-leg standing, respectively. In conclusion, the tested measurements and calculations appear to constitute a reliable way of quantifying one important aspect of balance capacity in fit older people.
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| 8. |
- Åberg, Anna Cristina, et al.
(författare)
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Medio-lateral stability of sit-to-walk performance in older individuals with and without fear of falling
- 2010
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Ingår i: Gait & Posture. - : Elsevier BV. - 0966-6362 .- 1879-2219. ; 31:4, s. 438-443
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Tidskriftsartikel (refereegranskat)abstract
- Most falls in older people are due to loss of balance during everyday locomotion, e.g., when initiating walking from sitting; sit-to-walk (STW). It has been considered that the broader stride width in walking that is seen in many people with fear of falling (FoF) does not increase stability, but could be predictive of future falls because of increased medio-lateral (ML) velocity of the body centre of mass (CoM). This study was aimed to examine step-, velocity- and stability-related parameters, focusing on ML stability, in STW performance of people with and without FoF. Ten subjects with FoF and 10 matched controls, aged >= 70 years, were included. Kinematic and kinetic data were collected in a laboratory. Stability parameters were calculated from a formula implying that the vertical projection of the CoM extrapolated by adding its velocity times a factor root l/g (height of inverted pendulum divided by gravity) should fall within the base of support (BoS). A related spatial margin of stability (SMoS), defined as the minimum distance from the extrapolated CoM (XCoM) to the boundaries of the BoS, was also calculated. In the phase 'seat-off-second-toe-off, the FoF group had significantly (p < 0.05) shorter and broader steps, lower forward but similar ML CoM velocity, and broader CoM and XCoM widths. The FoF group therefore exhibited a disproportionately large sideways velocity compared to the controls. This indicates that STW may be a hazardous transfer for older people with FoF, which should be relevant in assessment and training aimed at preventing falls.
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