Sandro Fioretti

A navigation system for increasing the autonomy and the security of powered wheelchairs

Assistive technology is an emerging area where some robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to substitute their missing function thus helping them to gain a level of independence at least in the activities of daily living. This paper presents the design of a navigation system and its integration with a commercial powered wheelchair. The navigation system provides the commercial wheelchair with a set of functions which increase the autonomy of elderly and people with motor disabilities. In general, a robot device must be adapted to assistive applications in such a way as to be easily managed by the user. Users, especially young ones, prefer to directly control the robotic device and this aspect of usability has to be managed without affecting the security and efficiency of the navigation module. These aspects have been considered as specifications for the navigation module of powered wheelchairs. Different autonomy levels of the navigation module and proper user interfaces have been developed. Two autonomy levels have been designed. Simple collision avoidance is also implemented in order to stop the mobile base when an obstacle is detected. The preliminary technical tests performed on the navigation system have shown satisfactory results in terms of security and response time. A modular solution for the navigation module was considered in order to simplify the adaptation of the module to different powered wheelchairs.

Nonlinear analysis of posturographic data

The aim of this work is to determine whether postural sway can be well described by nonlinear deterministic modelling. Since the results of nonlinear analysis depend on experimental data processing, emphasis was given to the assessment of a proper methodology to process posturographic data. Centre of Pressure (CoP) anterior-posterior (AP) displacements (stabilogram) were obtained by static posturography tests performed on control subjects. A nonlinear determinism test was applied to investigate the nature of data. A nonlinear filtering method allowed us to estimate properly the parameters of the nonlinear model without altering signal dynamics. The largest Lyapunov exponent (LLE) was estimated to quantify the chaotic behaviour of postural sway. LLE values were found to be positive although close to zero. This suggests that postural sway derives from a process exhibiting weakly chaotic dynamics.

Statistical analysis of surface electromyographic signal for the assessment of rectus femoris modalities of activation during gait

Aim of the present study was to identify the different modalities of activation of rectus femoris (RF) during gait at self-selected speed, by a statistical analysis of surface electromyographic signal from a large number (hundreds) of strides per subject. The analysis of ten healthy adults showed that RF is characterized by different activation modalities within different strides of the same walk. RF most recurrent modality (observed in 53 ± 6% of total strides) consists of three activations, at the beginning of gait cycle, around foot-off and in the terminal swing. Further two modalities of RF activation differ from the most recurrent one because of the lack of activity around foot-off (26 ± 6%) or the splitting into two (or three) small activations around stance-to-swing transition (17 ± 2%). Despite the large variability, our statistical analysis allowed to identify two patterns of activation that characterize completely the behavior of rectus femoris during gait. The first pattern, around stance-to-swing transition, can be monophasic, biphasic or triphasic and is necessary to control knee extension and hip flexion from pre-swing to initial swing. The second pattern, from terminal swing to following mid-stance, is likely due to the contribution of low-level RF activity and cross-talk from surrounding vastii.

Gender differences in the myoelectric activity of lower limb muscles in young healthy subjects during walking

Abstract The present study was designed to achieve a comprehensive analysis of gender-related differences in the myoelectric activity of lower limb muscles during normal walking at self-selected speed and cadence, in terms of muscle activation patterns and occurrence frequencies. To this aim, statistical gait analysis (SGA) of surface EMG signal from tibialis anterior (TA), gastrocnemius lateralis (GL), rectus femoris (RF), biceps femoris (BF) and vastus lateralis (VL) was performed in 11 female (F-group) and 11 male (M-group) age-matched healthy young adults. SGA is a recent methodology performing a statistical characterization of gait, by averaging spatio-temporal and sEMG-based parameters over numerous strides. Findings showed that males and females walk at the same comfortable speed, despite the significantly lower height and higher cadence detected in females. No significant differences in muscle onset/offset were detected between groups. The analysis of occurrence frequencies of muscle activity showed no significant differences in BF and RF, between groups. Conversely, in F-group, compared with M-group, GL, TA and VL showed a significantly higher occurrence frequency in the modalities with a high number of activations, and a significantly lower occurrence frequency in the modalities with a low number of activations. These findings indicate a propensity of females for a more complex recruitment of TA, GL and VL during walking, compared to males. The observed differences recommend the suitability of developing electromyographic databases, separated for males and females.

Reliable in vivo estimation of the instantaneous helical axis in human segmental movements

An assessment of the experimental setup and the data processing methods for the in vivo kinematic investigation of the human joints is described. The relative movement of contiguous body segments, supposed rigid, is described by means of the instantaneous helical axis (IHA). Attention has been paid to the stereophotogrammetric aspects and to the filtering and numerical differentiation procedures, in order to obtain reliable estimation of IHA parameters. Their accuracy has been estimated in a simulation context. One experimental case relative to the metacarpophalangeal joint is described in detail. The clinical application of the procedures and of the experimental protocol has been used in the entire work.<<ETX>>

Noninvasive fetal electrocardiography: an overview of the signal electrophysiological meaning, recording procedures, and processing techniques.

Noninvasive fetal electrocardiography (fECG), obtained positioning electrodes on the maternal abdomen, is important in safeguarding the life and the health of the unborn child. This study aims to provide a review of the state of the art of fECG, and includes a description of the parameters useful for fetus clinical evaluation; of the fECG recording procedures; and of the techniques to extract the fECG signal from the abdominal recordings.

The occurrence frequency: a suitable parameter for the evaluation of the myoelectric activity during walking

Many studies have recently addressed the quantification of the natural variability of myoelectric activity during walking, considering hundreds of strides. The availability of so many strides allows assessing a parameter seldom considered in classic surface EMG (sEMG) studies: the occurrence frequency, defined as the frequency each muscle activation occurs with, quantified by the number of strides in which a muscle is recruited with that specific activation modality. Aim of this study is to point out the occurrence frequency as a suitable parameter for the evaluation of the variability of the myoelectric activity during walking. This goal was pursued by means of the statistical gait analysis of sEMG signal acquired from Gastrocnemius Lateralis (GL) in six healthy subjects, with different characteristics. Results show that among these six subjects relevant differences were not detected in the temporal parameters, i.e., activation onset/offset instant and activation duration. In the same subjects, the values of the occurrence frequency ranged from 3% to 74% in the different activation modalities, indicating a large variability of this parameter. These findings show that occurrence frequency is able to provide further and different information with respect to classical temporal parameters. Thus, the occurrence frequency is proposed as a suitable parameter to support the classic temporal parameters in the evaluation of variability of myoelectric activity during walking.

Normative EMG patterns of ankle muscle co-contractions in school-age children during gait

PURPOSE The study was designed to assess the co-contractions of tibialis anterior (TA) and gastrocnemius lateralis (GL) in healthy school-age children during gait at self-selected speed and cadence, in terms of variability of onset-offset muscular activation and occurrence frequency. METHODS Statistical gait analysis, a recent methodology performing a statistical characterization of gait by averaging spatio-temporal and sEMG-based parameters over numerous strides, was performed in 100 healthy children, aged 6-11 years. Co-contractions were assessed as the period of overlap between activation intervals of TA and GL. RESULTS On average, 165±27 strides were analyzed for each child, resulting in approximately 16,500 strides. Results showed that GL and TA act as pure agonist/antagonists for ankle plantar/dorsiflexion (no co-contractions) in only 19.2±10.4% of strides. In the remaining strides, statistically significant (p<0.05) co-contractions appear in early stance (46.5±23.0% of the strides), mid-stance (28.8±15.9%), pre-swing (15.2±9.2%), and swing (73.2±22.6%). This significantly increased complexity in muscle recruitment strategy beyond the activation as pure ankle plantar/dorsiflexors, suggests that in healthy children co-contractions are likely functional to further physiological tasks as balance improvement and control of joint stability. CONCLUSIONS This study represents the first attempt for the development in healthy children of a normative dataset for GL/TA co-contractions during gait, achieved on an exceptionally large number of strides in every child and in total. The present reference frame could be useful for discriminating physiological and pathological behavior in children and for designing more focused studies on the maturation of gait.

EMG-Based Analysis of Treadmill and Ground Walking in Distal Leg Muscles

Differences between treadmill and ground walking have been suspected by some authors. To check this hypothesis, the present study compared treadmill with ground walking in terms of surface electromyographic (sEMG) signal of Tibialis Anterioris (TA) and Gastrocnemius Lateralis (GL), from a large number (hundreds) of strides per subject. The analysis on seven healthy young adults showed no substantial variation in TA activity during treadmill walking, with respect to ground walking. An earlier and increased activity of GL during the transition between Flat foot contact and Push-off phases was detected during treadmill walking with respect to ground walking in terms of both the frequency of GL recruitment and area under the curve of GL profiles; this increase is likely to be related with the reported increase of magnitude of vertical forces during mid-stance in the treadmill compared with ground walking. Incorporating this findings into gaitanalysis strategies could lead to a more accurate evaluation of results achieved by the use of treadmill.

Surface-EMG analysis for the quantification of thigh muscle dynamic co-contractions during normal gait

The research purpose was to quantify the co-contraction patterns of quadriceps femoris (QF) vs. hamstring muscles during free walking, in terms of onset-offset muscular activation, excitation intensity, and occurrence frequency. Statistical gait analysis was performed on surface-EMG signals from vastus lateralis (VL), rectus femoris (RF), and medial hamstrings (MH), in 16315 strides walked by 30 healthy young adults. Results showed full superimpositions of MH with both VL and RF activity from terminal swing, 80 to 100% of gait cycle (GC), to the successive loading response (≈0-15% of GC), in around 90% of the considered strides. A further superimposition was detected during the push-off phase both between VL and MH activation intervals (38.6±12.8% to 44.1±9.6% of GC) in 21.9±13.6% of strides, and between RF and MH activation intervals (45.9±5.3% to 50.7±9.7 of GC) in 32.7±15.1% of strides. These findings led to identify three different co-contractions among QF and hamstring muscles during able-bodied walking: in early stance (in ≈90% of strides), in push-off (in 25-30% of strides) and in terminal swing (in ≈90% of strides). The co-contraction in terminal swing is the one with the highest levels of muscle excitation intensity. To our knowledge, this analysis represents the first attempt for quantification of QF/hamstring muscles co-contraction in young healthy subjects during normal gait, able to include the physiological variability of the phenomenon.