Christian T.M. Baten

Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation

This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated. The filter was tested under quasi-static and dynamic conditions with ferromagnetic materials close to the sensor module. The quasi-static experiments implied static positions and rotations around the three axes. In the dynamic experiments, three-dimensional rotations were performed near a metal tool case. The orientation estimated by the filter was compared with the orientation obtained with an optical reference system Vicon. Results show accurate and drift-free orientation estimates. The compensation results in a significant difference (p<0.01) between the orientation estimates with compensation of magnetic disturbances in comparison to no compensation or only gyroscopes. The average static error was 1.4/spl deg/ (standard deviation 0.4) in the magnetically disturbed experiments. The dynamic error was 2.6/spl deg/ root means square.

The median frequency of the surface EMG power spectrum in relation to motor unit firing and action potential properties

Three components determine the power spectrum of the surface EMG signal: the auto- and cross-power spectra of the firing processes and the power spectra of the motor unit action potential (MUAP). To clarify the relative contribution of these components to the median frequency (MF) of the power spectrum, a stochastic simulation model was used in which most input parameters [e.g., MUAP peak-peak time (PPT), mean interpulse interval time, and synchronization parameters] were described in terms of distribution functions. Simulation clearly predicts that MF is especially sensitive to variations in MUAP shape, the MUAP PPT, and synchronization. The influence of the firing process parameters was predicted to be marginal. To obtain values for the MUAP parameters, a needle-triggered averaging technique was used to gather surface MUAPs from the m. biceps brachii. With use of these MUAPs as input for the model, it was found that intrasubject variability of MF is caused by variations in both MUAP PPT and MUAP shape, whereas intersubject variability in MF is caused primarily by variations in PPT.

Ambulatory estimation of foot placement during walking using inertial sensors

This study proposes a method to assess foot placement during walking using an ambulatory measurement system consisting of orthopaedic sandals equipped with force/moment sensors and inertial sensors (accelerometers and gyroscopes). Two parameters, lateral foot placement (LFP) and stride length (SL), were estimated for each foot separately during walking with eyes open (EO), and with eyes closed (EC) to analyze if the ambulatory system was able to discriminate between different walking conditions. For validation, the ambulatory measurement system was compared to a reference optical position measurement system (Optotrak). LFP and SL were obtained by integration of inertial sensor signals. To reduce the drift caused by integration, LFP and SL were defined with respect to an average walking path using a predefined number of strides. By varying this number of strides, it was shown that LFP and SL could be best estimated using three consecutive strides. LFP and SL estimated from the instrumented shoe signals and with the reference system showed good correspondence as indicated by the RMS difference between both measurement systems being 6.5 ± 1.0 mm (mean ± standard deviation) for LFP, and 34.1 ± 2.7 mm for SL. Additionally, a statistical analysis revealed that the ambulatory system was able to discriminate between the EO and EC condition, like the reference system. It is concluded that the ambulatory measurement system was able to reliably estimate foot placement during walking.

Estimation of orientation with gyroscopes and accelerometers

3D orientation obtained by integrating the rate gyroscope signals can be improved by fusion with inclination information obtained from 3D accelerometer signals. This is relevant for ambulatory human movement analysis.

Inertial sensing in ambulatory back load estimation

Inertial sensing techniques are applied to ambulatory assess back movement in a system for ambulatory estimation of low back load. A combination of a accelerometer and a miniature solid state rate gyroscope was proposed and validated against movement data recorded simultaneously with a 3D video based movement analysis system. The inertial sensing technique appeared to estimate absolute back inclination angle with a typical relative error of /spl plusmn/10%.

The effect of an ergonomic computer device on muscle activity of the upper trapezius muscle during typing.

OBJECTIVE Investigate whether an ergonomic computer device, characterised by an inclined working area and keyboard localisation close to the screen (the Up-Line), decreases the muscle activity of the upper trapezius muscle. METHODS In a crossover design 19 healthy subjects and 19 patients with Whiplash Associated Disorder (WAD) typed during 10 min at the Up-Line and at a standard workstation with 15 min of rest in between. During typing surface EMG was measured of the trapezius muscle. The subjects were asked to rate sitting comfort and complaints. RESULTS Although most subjects subjectively preferred the Up-Line, on average no significant differences were found in muscle activity between the two workstations for both patients and healthy subjects. Individually in 5 healthy subjects (25%) and in 6 patients (31%) muscle activity was lower when working at the Up-Line. CONCLUSION Although some subjects subjectively prefer the Up-Line in sitting comfort, on average the Up-Line did not decrease the muscle activity, both in healthy subjects as in patients with WAD.

Automatic identification of inertial sensor placement on human body segments during walking

BackgroundCurrent inertial motion capture systems are rarely used in biomedical applications. The attachment and connection of the sensors with cables is often a complex and time consuming task. Moreover, it is prone to errors, because each sensor has to be attached to a predefined body segment. By using wireless inertial sensors and automatic identification of their positions on the human body, the complexity of the set-up can be reduced and incorrect attachments are avoided.We present a novel method for the automatic identification of inertial sensors on human body segments during walking. This method allows the user to place (wireless) inertial sensors on arbitrary body segments. Next, the user walks for just a few seconds and the segment to which each sensor is attached is identified automatically.MethodsWalking data was recorded from ten healthy subjects using an Xsens MVN Biomech system with full-body configuration (17 inertial sensors). Subjects were asked to walk for about 6 seconds at normal walking speed (about 5 km/h). After rotating the sensor data to a global coordinate frame with x-axis in walking direction, y-axis pointing left and z-axis vertical, RMS, mean, and correlation coefficient features were extracted from x-, y- and z-components and magnitudes of the accelerations, angular velocities and angular accelerations. As a classifier, a decision tree based on the C4.5 algorithm was developed using Weka (Waikato Environment for Knowledge Analysis).Results and conclusionsAfter testing the algorithm with 10-fold cross-validation using 31 walking trials (involving 527 sensors), 514 sensors were correctly classified (97.5%). When a decision tree for a lower body plus trunk configuration (8 inertial sensors) was trained and tested using 10-fold cross-validation, 100% of the sensors were correctly identified. This decision tree was also tested on walking trials of 7 patients (17 walking trials) after anterior cruciate ligament reconstruction, which also resulted in 100% correct identification, thus illustrating the robustness of the method.

An EMG technique for measuring spinal loading during asymmetric lifting

OBJECTIVES To compare two methods of calibrating the erector spinae electromyographic signal against moment generation in order to predict extensor moments during asymmetric lifting tasks, and to compare the predicted moments with those obtained using a linked-segment model. METHODS Eight men lifted loads of 6.7 and 15.7 kg at two speeds, in varying amounts of trunk rotation. For each lift, the following were recorded at 60 Hz; the rectified and averaged surface electromyographic signal, bilaterally at T10 and L3, lumbar curvature using the 3-Space Isotrak, movement of body segments using a 4-camera Vicon system, and ground reaction forces using a Kistler force-plate. Electromyographic (EMG) and Isotrak data were used to calculate lumbosacral extensor moments using the electromyographic model, whereas movement analysis data and ground reaction forces were used to estimate net moments using the linked-segment model. For the electromyographic technique, predictions of extensor moment were based on two different sets of EMG-extensor moment calibrations: one performed in pure sagittal flexion and the other in flexion combined with 45 degrees of trunk rotation. RESULTS Extensor moments predicted by the electromyographic technique increased significantly with load and speed of lifting but were not influenced by the method of calibration. These moments were 7-40%greater than the net moments obtained with the linked-segment model, the difference increasing with load and speed. CONCLUSIONS The calibration method does not influence extensor moments predicted by the electromyographic technique in asymmetric lifting, suggesting that simple, sagittal-plane calibrations are adequate for this purpose. Differences in predicted moments between the electromyographic technique and linked-segment model may be partly due to different anthropometric assumptions and different amounts of smoothing and filtering in the two models, and partly due to antagonistic muscle forces, the effects of which cannot be measured by linked-segment models. RelevanceAsymmetric lifting is a significant risk factor for occupationally-related low back pain. Improved techniques for measuring spinal loading during such complex lifting tasks may help to identify work practices which place the spine at risk of injury.

Trunk muscle activation and low back loading in lifting in the absence of load knowledge

People who know the actual mass of an object to be lifted normally prepare themselves before attempting a lift to control the movement and to minimize low back loading. In this study, the trunk muscular reactions and low back torque were investigated in the situation in which the individual did not know the actual mass but only had some idea of the range within which the mass lay. Nine males lifted boxes weighing 6.5 or 16.5 kg under the condition in which they knew the actual mass before attempting a lift (the ‘known’ condition) and the condition in which they only had the information that the mass would be within the range of 6.5–16.5 kg (the ‘unknown’ condition). The ground reaction forces and body movements were measured in the trials and, from these, the L5/S1 torques were calculated. The activation of back and abdominal muscles was also measured. For the 6.5 kg weight, a higher (16%) back muscle activation in grasping the box and a higher (10%) peak L5/S1 torque in actual lifting were observed in the ‘unknown’ compared with the ‘known’ weight condition. For the 16.5 kg weight, the back muscle activation was lower (10%) during grasping, and higher (10%) during lifting in the ‘unknown’ compared with the ‘known’ weight condition. Knowledge of the load had no effect on the activation of the abdominal muscles. It was concluded that in the so-called ‘unknown’ conditions, the risks of low back injury were increased in comparison with the conditions where the actual weight was known in advance.

Does an asymmetric straddle-legged lifting movement reduce the low-back load?

Abstract Asymmetric lifting with one foot placed at the side of the load and the other behind it (straddle lift) might result in lower back loads than symmetric lifting. A detrimental effect on low back load might also occur due to the body asymmetry. The low back load in a symmetric back lift, leg lift and free lift and a straddle lift as performed by eight subjects, was evaluated on the basis of the net lumbo-sacral torques, the erector spinae activation and an estimate of the spinal compression. Peak trunk flexing–extending torques in the straddle lift were slightly lower compared to the leg (by 6.9%) and free lift (by 2.6%), but not when compared to the back lift. The straddle lift did not yield a lower compressive force compared to any other lifts. The asymmetric body position in the straddle lift did not increase the twisting or lateral flexing torque at L5S1 and did not cause contralateral differences in erector spinae activation. The presumed benefit of the straddle lift in comparison symmetric lifting was absent or only marginal, while any rise in low back load due to the body asymmetry was not observed. The wider base of support, which increases balance, might be the only benefit of importance. PsycINFO classification: 4010