Steven T. Moore

Effects of walking velocity on vertical head and body movements during locomotion

Abstract Trunk and head movements were characterized over a wide range of walking speeds to determine the relationship between stride length, stepping frequency, vertical head translation, pitch rotation of the head, and pitch trunk rotation as a function of gait velocity. Subjects (26–44 years old) walked on a linear treadmill at velocities of 0.6–2.2 m/s. The head and trunk were modeled as rigid bodies, and rotation and translation were determined using a video-based motion analysis system. At walking speeds up to 1.2 m/s there was little head pitch movement in space, and the head pitch relative to the trunk was compensatory for trunk pitch. As walking velocity increased, trunk pitch remained approximately invariant, but a significant head translation developed. This head translation induced compensatory head pitch in space, which tended to point the head at a fixed point in front of the subject that remained approximately invariant with regard to walking speed. The predominant frequency of head translation and rotation was restricted to a narrow range from 1.4 Hz at 0.6 m/s to 2.5 Hz at 2.2 m/s. Within the range of 0.8–1.8 m/s, subjects tended to increase their stride length rather than step frequency to walk faster, maintaining the predominant frequency of head movement at close to 2.0 Hz. At walking speeds above 1.2 m/s, head pitch in space was highly coherent with, and compensatory for, vertical head translation. In the range 1.2–1.8 m/s, the power spectrum of vertical head translation was the most highly tuned, and the relationship between walking speed and head and trunk movements was the most linear. We define this as an optimal range of walking velocity with regard to head-trunk coordination. The coordination of head and trunk movement was less coherent at walking velocities below 1.2 m/s and above 1.8 m/s. These results suggest that two mechanisms are utilized to maintain a stable head fixation distance over the optimal range of walking velocities. The relative contribution of each mechanism to head orientation depends on the frequency of head movement and consequently on walking velocity. From consideration of the frequency characteristics of the compensatory head pitch, we infer that compensatory head pitch movements may be produced predominantly by the angular vestibulocollic reflex (aVCR) at low walking speeds and by the linear vestibulocollic reflex (lVCR) at the higher speeds.

A geometric basis for measurement of three-dimensional eye position using image processing

Polar cross correlation is commonly used for determination of ocular torsion from video images, but breaks down at eccentric positions if the spherical geometry of the eye is not considered. We have extended this method to allow three-dimensional eye position measurement over a range of +/- 20 deg by determining the correct projection of the eye onto the image plane of the camera. We also determine the orientation of the camera with respect to the eye, allowing eye position to be represented in appropriate head-fixed coordinates. These algorithms have been validated using both in vitro and in vivo measures of eye position.

Robust pupil center detection using a curvature algorithm

Determining the pupil center is fundamental for calculating eye orientation in video-based systems. Existing techniques are error prone and not robust because eyelids, eyelashes, corneal reflections or shadows in many instances occlude the pupil. We have developed a new algorithm which utilizes curvature characteristics of the pupil boundary to eliminate these artifacts. Pupil center is computed based solely on points related to the pupil boundary. For each boundary point, a curvature value is computed. Occlusion of the boundary induces characteristic peaks in the curvature function. Curvature values for normal pupil sizes were determined and a threshold was found which together with heuristics discriminated normal from abnormal curvature. Remaining boundary points were fit with an ellipse using a least squares error criterion. The center of the ellipse is an estimate of the pupil center. This technique is robust and accurately estimates pupil center with less than 40% of the pupil boundary points visible.

VTM — an image-processing system for measuring ocular torsion

This paper reports a new, fast, accurate realization of an image-processing method of measuring ocular torsion (rotation of the eyeball around the visual axis) called Video Torsion Measurement (VTM). The method is to cross-correlate the two grey-level distributions of an arc of the iris from two separate images using a fast image processor card interfaced to an IBM-AT compatible computer. The card (Matrox MVP-AT) is supplied with a library of low-level functions for controlling the hardware operations of the board and the VTM system software, which is written in the C programming language, incorporates these low-level functions to interface with the MVP-AT board as well as carrying out the data-acquisition and processing algorithms. These programs: acquire an image of an iris illuminated by a single infrared (IR) light source; threshold this image in order to identify the pupil; calculate the pupil area and locate the centre of the pupil using a centre-of-gravity algorithm; record the grey-level distribution along an arc 256 pixels long at a selected radius from the pupil centre; carry out an FFT on this (interpolated) grey level distribution; store the parameters of this reference FFT and cross-correlate the comparable iral grey-level distribution from other test images of the same eye in order to determine the amount of torsional rotation of the test images relative to the reference image. This system is interactive and is designed for operation in a clinical testing situation with a minimum of operator intervention. The VTM system has a resolution of the order of 0.1 deg depending on the arc radius used and it has been validated in two ways: by using it to measure known torsional rotations of an artificial iris-like pattern and also by direct simultaneous comparison of measures on the same human iris images from VTM and those from the standard 35 mm photographic procedure of measuring torsion.

Effect of viewing distance on the generation of vertical eye movements during locomotion

Abstract Vertical head and eye coordination was studied as a function of viewing distance during locomotion. Vertical head translation and pitch movements were measured using a video motion analysis system (Optotrak 3020). Vertical eye movements were recorded using a video-based pupil tracker (Iscan). Subjects (five) walked on a linear treadmill at a speed of 1.67 m/s (6 km/h) while viewing a target screen placed at distances ranging from 0.25 to 2.0 m at 0.25-m intervals. The predominant frequency of vertical head movement was 2 Hz. In accordance with previous studies, there was a small head pitch rotation, which was compensatory for vertical head translation. The magnitude of the vertical head movements and the phase relationship between head translation and pitch were little affected by viewing distance, and tended to orient the naso-occipital axis of the head at a point approximately 1 m in front of the subject (the head fixation distance or HFD). In contrast, eye velocity was significantly affected by viewing distance. When viewing a far (2-m) target, vertical eye velocity was 180° out of phase with head pitch velocity, with a gain of 0.8. This indicated that the angular vestibulo-ocular reflex (aVOR) was generating the eye movement response. The major finding was that, at a close viewing distance (0.25 m), eye velocity was in phase with head pitch and compensatory for vertical head translation, suggesting that activation of the linear vestibulo-ocular reflex (lVOR) was contributing to the eye movement response. There was also a threefold increase in the magnitude of eye velocity when viewing near targets, which was consistent with the goal of maintaining gaze on target. The required vertical lVOR sensitivity to cancel an unmodified aVOR response and generate the observed eye velocity magnitude for near targets was almost 3 times that previously measured. Supplementary experiments were performed utilizing body-fixed active head pitch rotations at 1 and 2 Hz while viewing a head-fixed target. Results indicated that the interaction of smooth pursuit and the aVOR during visual suppression could modify both the gain and phase characteristics of the aVOR at frequencies encountered during locomotion. When walking, targets located closer than the HFD (1.0 m) would appear to move in the same direction as the head pitch, resulting in suppression of the aVOR. The results of the head-fixed target experiment suggest that phase modification of the aVOR during visual suppression could play a role in generating eye movements consistent with the goal of maintaining gaze on targets closer than the HFD, which would augment the lVOR response.

Ocular counterrolling induced by centrifugation during orbital space flight

Abstract. During the 1998 Neurolab mission (STS-90), four astronauts were exposed to interaural centripetal accelerations (Gy centrifugation) of 0.5g and 1g during rotation on a centrifuge, both on Earth and during orbital space flight. Subjects were oriented either left-ear out or right-ear out, facing or back to motion. Binocular eye movements were measured in three dimensions using a video technique. On Earth, tangential centrifugation that produces 1g of interaural linear acceleration combines with gravity to tilt the gravitoinertial acceleration (GIA) vector 45° in the roll plane relative to the head vertical, generating a summed vector of 1.4g. Before flight, this elicited mean ocular counterrolling (OCR) of 5.7°. Due to the relative absence of gravity during flight, there was no linear acceleration along the dorsoventral axis of the head. As a result, during in-flight centrifugation, gravitoinertial acceleration was strictly aligned with the centripetal acceleration along the interaural axis. There was a small but significant decrease (mean 10%) in the magnitude of OCR in space (5.1°). The magnitude of OCR during postflight 1g centrifugation was not significantly different from preflight OCR (5.9°). Findings were similar for 0.5g centrifugation, but the OCR magnitude was approximately 60% of that induced by centrifugation at 1g. OCR during pre- and postflight static tilt was not significantly different and was always less than OCR elicited by centrifugation on Earth for an equivalent interaural linear acceleration. In contrast, there was no difference between the OCR generated by in-flight centrifugation and by static tilt on Earth at equivalent interaural linear accelerations. These data support the following conclusions: (1) OCR is generated predominantly in response to interaural linear acceleration; (2) the increased OCR during centrifugation on Earth is a response to the head dorsoventral 1g linear acceleration component, which was absent in microgravity. The dorsoventral linear acceleration could have activated either the otoliths or body-tilt receptors that responded to the larger GIA magnitude (1.4g), to generate the increased OCR during centrifugation on Earth. A striking finding was that magnitude of OCR was maintained throughout and after flight. This is in contrast to most previous postflight OCR studies, which have generally registered decreases in OCR. We postulate that intermittent exposure to artificial gravity, in the form of the centripetal acceleration experienced during centrifugation, acted as a countermeasure to deconditioning of this otolith-ocular orienting reflex during the 16-day mission.

A theoretical analysis of three-dimensional eye position measurement using polar cross-correlation

Polar cross-correlation is a commonly used technique for determination of torsional eye position from video images. At eccentric eye positions, the projection of the sampling window onto the image plane of the camera is translated and deformed due to the spherical shape of the eyeball. Here, the authors extend the polar cross-correlation technique by developing the formulas required to determine the correct location and shape of the sampling window at all eye positions. These formulas also allow the representation of three-dimensional eye position in Fick-angles, which are commonly used in oculomotor research. A numerical simulation shows the size of the errors in ocular torsion if the spherical geometry of the eye is not considered. Other effects which can affect the accuracy of video-based eye position measurements are also discussed.<<ETX>>

Attentional set-shifting deficits correlate with the severity of freezing of gait in Parkinson's disease.

Freezing of gait (FOG) is a poorly understood symptom of Parkinson’s disease (PD) during which a patient suffers an abrupt cessation of walking [1]. Whilst little consensus exists regarding the mechanisms underlying FOG [2], there is considerable evidence that additional cognitive demand whilst walking represents a significant trigger in the pathophysiology of FOG [2]. In addition, the severity of self-reported FOG has been correlated with a selective deficit in attentional set-shifting [3]. Taken together, these findings suggest a degree of commonality between corticostriatal networks serving attention and the pathophysiology of FOG. However, no study has directly linked clinical measures of FOG severity during walking with diminished executive function, in particular the ability to rapidly switch between tasks. In this study we hypothesized that impaired behavioral performance on cognitive testing should correlate with objective measures of actual freezing events whilst walking.

Functional Assessment of Head-Eye Coordination During Vehicle Operation

Purpose. Visual impairment, resulting from ocular abnormalities or brain lesions, can significantly affect driving performance. The impact of vestibulopathy on head–eye coordination is also a concern in vehicle operation safety, yet to date there has been little functional research in this area. An understanding of decrements in driving ability resulting from visual and vestibular pathology, plus the differences in visual strategies used by novice and experienced drivers, would benefit from an objective analysis of head–eye coordination during vehicle operation. Methods. We have developed a laptop-based system for measuring eye, head, and vehicle movement in real time. Digital video cameras mounted on lightweight swimming goggles are used to provide images of the eye and scene, allowing assessment of gaze. In addition, the use of inertial measurement units to simultaneously transduce head and vehicle movement allows us to evaluate the vestibular contribution to stable vision. Results. Data was obtained from a flight simulator and while driving a car. During banking turns in the flight simulator, there was a sustained roll tilt of the head and eyes toward the scene-derived visual vertical with a combined gain of approximately 25%. One of the most complex visual tasks when driving was exiting a multistory car park, which involved the scanning of hundreds of parked vehicles with an average fixation time of approximately 100 ms. The vertical vestibulo-ocular reflex was also found to make a significant contribution to the maintenance of dynamic visual acuity even while driving on paved surfaces. Conclusion. These results demonstrate the viability of functional assessment of head–eye coordination during vehicle operation, and potential applications of this technology to driver assessment are discussed. Analysis of both active and reflex contributions to gaze may provide a clearer understanding of the impact of visual and vestibular impairment on driving ability.

The human vestibulo-ocular reflex during linear locomotion

Abstract: During locomotion, there is a translation and compensatory rotation of the head in both the vertical and horizontal planes. During moderate to fast walking (100 m/min), vertical head translation occurs at the frequency of stepping (2 Hz) and generates peak linear acceleration of 0.37 g. Lateral head translation occurs at the stride frequency (1 Hz) and generates peak linear acceleration of 0.1 g. Peak head pitch and yaw angular velocities are approximately 178°/s. The frequency and magnitude of these head movements are within the operational range of both the linear and angular vestibulo‐ocular reflex (lVOR and aVOR). Vertical eye movements undergo a phase reversal from near to far targets. When viewing a far (>1 m) target, vertical eye velocity is typical of an aVOR response; that is, it is compensatory for head pitch. At close viewing distances (<1 m), vertical eye velocity is in phase with head pitch and is compensatory for vertical head translation, suggesting that the lVOR predominantly generates the eye movement response. Horizontal head movements during locomotion occur at the stride frequency of 1 Hz, where the lVOR gain is low. Horizontal eye movements are compensatory for head yaw at all viewing distances and are likely generated by the aVOR.