Edward P. Washabaugh

A low cost real-time motion tracking approach using webcam technology.

Physical therapy is an important component of gait recovery for individuals with locomotor dysfunction. There is a growing body of evidence that suggests that incorporating a motor learning task through visual feedback of movement trajectory is a useful approach to facilitate therapeutic outcomes. Visual feedback is typically provided by recording the subjects limb movement patterns using a three-dimensional motion capture system and displaying it in real-time using customized software. However, this approach can seldom be used in the clinic because of the technical expertise required to operate this device and the cost involved in procuring a three-dimensional motion capture system. In this paper, we describe a low cost two-dimensional real-time motion tracking approach using a simple webcam and an image processing algorithm in LabVIEW Vision Assistant. We also evaluated the accuracy of this approach using a high precision robotic device (Lokomat) across various walking speeds. Further, the reliability and feasibility of real-time motion-tracking were evaluated in healthy human participants. The results indicated that the measurements from the webcam tracking approach were reliable and accurate. Experiments on human subjects also showed that participants could utilize the real-time kinematic feedback generated from this device to successfully perform a motor learning task while walking on a treadmill. These findings suggest that the webcam motion tracking approach is a feasible low cost solution to perform real-time movement analysis and training.

Validity and repeatability of inertial measurement units for measuring gait parameters

Inertial measurement units (IMUs) are small wearable sensors that have tremendous potential to be applied to clinical gait analysis. They allow objective evaluation of gait and movement disorders outside the clinic and research laboratory, and permit evaluation on large numbers of steps. However, repeatability and validity data of these systems are sparse for gait metrics. The purpose of this study was to determine the validity and between-day repeatability of spatiotemporal metrics (gait speed, stance percent, swing percent, gait cycle time, stride length, cadence, and step duration) as measured with the APDM Opal IMUs and Mobility Lab system. We collected data on 39 healthy subjects. Subjects were tested over two days while walking on a standard treadmill, split-belt treadmill, or overground, with IMUs placed in two locations: both feet and both ankles. The spatiotemporal measurements taken with the IMU system were validated against data from an instrumented treadmill, or using standard clinical procedures. Repeatability and minimally detectable change (MDC) of the system was calculated between days. IMUs displayed high to moderate validity when measuring most of the gait metrics tested. Additionally, these measurements appear to be repeatable when used on the treadmill and overground. The foot configuration of the IMUs appeared to better measure gait parameters; however, both the foot and ankle configurations demonstrated good repeatability. In conclusion, the IMU system in this study appears to be both accurate and repeatable for measuring spatiotemporal gait parameters in healthy young adults.

Reliable sagittal plane kinematic gait assessments are feasible using low-cost webcam technology

Three-dimensional (3-D) motion capture systems are commonly used for gait analysis because they provide reliable and accurate measurements. However, the downside of this approach is that it is expensive and requires technical expertise; thus making it less feasible in the clinic. To address this limitation, we recently developed and validated (using a high-precision walking robot) a low-cost, two-dimensional (2-D) real-time motion tracking approach using a simple webcam and LabVIEW Vision Assistant. The purpose of this study was to establish the repeatability and minimal detectable change values of hip and knee sagittal plane gait kinematics recorded using this system. Twenty-one healthy subjects underwent two kinematic assessments while walking on a treadmill at a range of gait velocities. Intraclass correlation coefficients (ICC) and minimal detectable change (MDC) values were calculated for commonly used hip and knee kinematic parameters to demonstrate the reliability of the system. Additionally, Bland-Altman plots were generated to examine the agreement between the measurements recorded on two different days. The system demonstrated good to excellent reliability (ICC>0.75) for all the gait parameters tested on this study. The MDC values were typically low (<5°) for most of the parameters. The Bland-Altman plots indicated that there was no systematic error or bias in kinematic measurements and showed good agreement between measurements obtained on two different days. These results indicate that kinematic gait assessments using webcam technology can be reliably used for clinical and research purposes.

A Novel Application of Eddy Current Braking for Functional Strength Training During Gait.

Functional strength training is becoming increasingly popular when rehabilitating individuals with neurological injury such as stroke or cerebral palsy. Typically, resistance during walking is provided using cable robots or weights that are secured to the distal shank of the subject. However, there exists no device that is wearable and capable of providing resistance across the joint, allowing over ground gait training. In this study, we created a lightweight and wearable device using eddy current braking to provide resistance to the knee. We then validated the device by having subjects wear it during a walking task through varying resistance levels. Electromyography and kinematics were collected to assess the biomechanical effects of the device on the wearer. We found that eddy current braking provided resistance levels suitable for functional strength training of leg muscles in a package that is both lightweight and wearable. Applying resistive forces at the knee joint during gait resulted in significant increases in muscle activation of many of the muscles tested. A brief period of training also resulted in significant aftereffects once the resistance was removed. These results support the feasibility of the device for functional strength training during gait. Future research is warranted to test the clinical potential of the device in an injured population.

A Semi-passive Planar Manipulandum for Upper-Extremity Rehabilitation

Robotic rehabilitation is a promising approach to treat individuals with neurological or orthopedic disorders. However, despite significant advancements in the field of rehabilitation robotics, this technology has found limited traction in clinical practice. A key reason for this issue is that most robots are expensive, bulky, and not scalable for in-home rehabilitation. Here, we introduce a semi-passive rehabilitation robot (SepaRRo) that uses controllable passive actuators (i.e., brakes) to provide controllable resistances at the end-effector over a large workspace in a manner that is cost-effective and safe for in-home use. We also validated the device through theoretical analyses, hardware experiments, and human subject experiments. We found that by including kinematic redundancies in the robot’s linkages, the device was able to provide controllable resistances to purely resist the movement of the end-effector, or to gently steer (i.e., perturb) its motion away from the intended path. When testing these capabilities on human subjects, we found that many of the upper-extremity muscles could be selectively targeted based on the forcefield prescribed to the user. These results indicate that SepaRRo could serve as a low-cost therapeutic tool for upper-extremity rehabilitation; however, further testing is required to evaluate its therapeutic benefits in patient population.

A novel low-cost solution for driving assessment in individuals with and without disabilities

Brake reaction time is a key component to studying driving performance and evaluating fitness to drive. Although commercial simulators can measure brake reaction time, their cost remains a major barrier to clinical access. Therefore, we developed open-source software written in C-sharp (C#) for measuring driving related reaction times, which includes a subject-controlled vehicle with straight-line dynamics and several testing scenarios. The software measures both simple and cognitive load based reaction times and can use any human interface device compliant steering wheel and pedals. Measures from the software were validated against a commercial simulator and tested for reproducibility. Further, experiments were performed using hand controls in both able-bodied and spinal cord injured patients to determine clinical feasibility for disabled populations. The software demonstrated high validity when measuring brake reaction times, showed excellent test-retest reliability, and was sensitive enough to determine significant brake reaction time differences between able-bodied and spinal cord injured subjects. These results indicate that the proposed simulator is a simple and feasible low-cost solution to perform brake reaction time tests and evaluate fitness to drive.

A low-cost system for coil tracking during transcranial magnetic stimulation

PURPOSE Accurate coil placement over a target area is critical during transcranial magnetic stimulation (TMS), as small deviations can alter testing outcomes. Accordingly, frameless stereotaxic systems (FSS) are recommended for reliable coil placement during TMS applications. However, FSS is not practical due to the cost associated with procuring such systems. Therefore, the purpose of this study was to develop a low-cost TMS coil tracking approach using simple webcams and an image processing algorithm in LabVIEW Vision Assistant. METHODS A system was created using two webcams, retroreflective markers, and computer stereovision, for tracking the TMS coil over a target area. Accuracy of the system was validated in both the global and local reference frames, while repeatability was measured within- and between-days for placement of the TMS coil over the target area relative to the head. The feasibility of our system was also verified by collecting motor evoked potentials (MEPs) of first dorsal interosseous muscle from human subjects. RESULTS The results of this study indicated that the system was highly accurate and repeatable, and could track the coil position with <5 mm error and orientation <1.1° error from the target. We also observed larger and more consistent MEPs when stimulating the brain using feedback from the coil tracking system than when the examiner attempted to stimulate without any feedback. CONCLUSION The findings suggest that webcam-based coil tracking is a feasible low-cost solution to track coil positions during TMS procedures.

Low-level intermittent quadriceps activity during transcranial direct current stimulation facilitates knee extensor force-generating capacity

Anodal transcranial direct current stimulation (tDCS) is known to increase the force-generating capacity of the skeletal muscles. However, when tDCS is concurrently combined with a motor task, interference may occur that hinders tDCS effects. Here, we tested the interaction and time course of tDCS effects on force production when paired with a low-level force-matching task. Twenty-two subjects were randomized into two groups: tDCS-Matching and tDCS-Resting. Each group received tDCS and a sham stimulation, separated by one week. Maximal knee extensor and flexor torques were measured before and up to twenty-five minutes following the stimulation. The tDCS-Matching group produced greater knee extension torques relative to sham when compared with the tDCS-Resting group. There was no significant effect for knee flexion. This suggests that interference does not occur for force production tasks when tDCS is combined with a motor task. Rather, the task appears to aid and isolate the effects to the muscle groups involved in the task.

Learning new gait patterns: Age-related differences in skill acquisition and interlimb transfer

Abstract Evidence from upper‐extremity literature suggests that the normal ageing process affects an individuals ability to learn and retain a motor skill, but spares their ability to transfer the skill to the untrained, opposite limb. While this phenomenon has been well‐studied in the upper‐extremity, evidence in the lower‐extremity is limited. Further, it is unclear to what extent age‐related differences in motor learning and transfer are dependent on visual feedback of the motor task. Therefore, the purpose of this study was to examine the effects of ageing on motor learning, retention, and interlimb transfer during walking with and without visual feedback. Forty‐four subjects (24 young; 20 older adults) were tested on a treadmill over two consecutive days. On day 1, subjects learned a new gait pattern by performing a foot‐trajectory tracking task that necessitated greater hip and knee flexion during the swing phase of the gait. On day 2, subjects repeated the task with their training leg to test retention, then with their untrained leg to test interlimb transfer. Trials without visual feedback were also collected on both days. Results indicated that older adults had reduced ability to learn the task, and also exhibited lower retention and inter‐limb transfer. However, these differences were dependent on visual feedback as the groups performed similarly when feedback was removed. The findings provide novel evidence indicating that ageing impairs learning, retention, and transfer of motor skills in the lower‐extremity during walking, which may have implications for gait therapy after stroke and other geriatric conditions. HighlightsLeg motor skill learning during walking diminishes with ageing.Ageing also affects retention and interlimb transfer of motor skills during walking.Age‐related differences were dependent on visual feedback.Interlimb transfer is proportional to the amount of learning irrespective of age.

Correction to: A Semi-passive Planar Manipulandum for Upper-Extremity Rehabilitation

Authors would like to correct their acknowledgments. Correct acknowledgments appear here.