Vincent Denoël

Development and validation of an accelerometer-based method for quantifying gait events

An original signal processing algorithm is presented to automatically extract, on a stride-by-stride basis, four consecutive fundamental events of walking, heel strike (HS), toe strike (TS), heel-off (HO), and toe-off (TO), from wireless accelerometers applied to the right and left foot. First, the signals recorded from heel and toe three-axis accelerometers are segmented providing heel and toe flat phases. Then, the four gait events are defined from these flat phases. The accelerometer-based event identification was validated in seven healthy volunteers and a total of 247 trials against reference data provided by a force plate, a kinematic 3D analysis system, and video camera. HS, TS, HO, and TO were detected with a temporal accuracy ± precision of 1.3 ms ± 7.2 ms, -4.2 ms ± 10.9 ms, -3.7 ms ± 14.5 ms, and -1.8 ms ± 11.8 ms, respectively, with the associated 95% confidence intervals ranging from -6.3 ms to 2.2 ms. It is concluded that the developed accelerometer-based method can accurately and precisely detect HS, TS, HO, and TO, and could thus be used for the ambulatory monitoring of gait features computed from these events when measured concurrently in both feet.

Multiple scales solution for a beam with a small bending stiffness

This paper considers the problem of a beam with a small bending stiffness, within the framework of a nonlinear beam model that includes both the classical cable and the linear beam as limiting cases. This problem, treated as a perturbation of the catenary solution, is solved with the multiple scales method. The resulting expressions of the beam deflection and of the internal forces, as well as those obtained with the more commonly applied matched asymptotics method, are compared with numerical results. This comparison indicates that a better accuracy can be achieved with the multiple scales approach, for a similar computational effort. These results also suggest that application of the multiple scales method to the solution of beam problems involving boundary layers extend the range of values of the small parameter, for which accurate analytical solutions can be obtained by a perturbation technique.

Dominance effect on scapula 3-dimensional posture and kinematics in healthy male and female populations

BACKGROUND The contralateral shoulder is often used as a reference when evaluating a pathologic shoulder. However, the literature provides contradictory results regarding the symmetry of the scapular pattern in a healthy population. We assume that several factors including gender and type of motion may influence the bilateral symmetry of the scapulae. MATERIALS AND METHODS The dominant and nondominant shoulders of 2 populations of men and women comprising 11 subjects each were evaluated for 3 distinct motions: flexion in the sagittal plane, abduction in the frontal plane, and glenohumeral internal/external rotation with the arm abducted at 90°. Posture, kinematics, and range of motion were studied separately. RESULTS Asymmetries are observed for motions performed in the frontal and sagittal plane but not for internal/external rotation with the arm abducted at 90°. For both male and female populations, multiplanar asymmetries are observed and the dominant scapula has a larger upward rotation. The asymmetries mainly originate in the scapulas kinematics and not in its original posture. CONCLUSION Small but significant asymmetries exist between the dominant and nondominant shoulders in terms of kinematics. One should be aware of these differences when using the contralateral shoulder as a reference. LEVEL OF EVIDENCE Basic science study, kinematics

Validated extraction of gait events from 3D accelerometer recordings

This work is part of a project that deals with the three-dimensional (3D) analysis of normal and pathological gaits based on a newly developed system for clinical applications, using low-cost wireless accelerometers and a signal processing algorithm. This system automatically extracts relevant gait events such as the heel strikes (HS) and the toe-offs (TO), which characterize the stance and the swing phases of walking. The performances of the low-cost accelerometer hardware and related algorithm have been compared to those obtained by a kinematic 3D analysis system and a force plate, used as gold standard methods. The HS and TO times obtained from the gait data of 7 healthy volunteers (147 trials) have been found to be (mean ± standard deviation) 0.42±7.92 ms and 3.11±10.08 ms later than those determined by the force plate, respectively. The experimental results demonstrate that the new hardware and associated algorithm constitute an effective low-cost gait analysis system, which could thus be used for the assessment of mobility in routine clinical practice.

Patching Asymptotics Solution of a Cable with a Small Bending Stiffness

The analysis of a cable with a small bending stiffness is a problem encountered in many engineering applications such as the fatigue assessment of stay cables, the modeling of pipeline laying operation, or the determination of bending stresses in drillpipe assemblies. Because this phenomenon is modeled by a singularly perturbed equation, standard numerical techniques fail to solve these problems efficiently. As an alternative, provided the complexity of the analytical developments does not preclude their application, these problems may be tackled with appealing analytical procedures such as matching asymptotics or multiple scales. Otherwise, advanced numerical simulations combining patching asymptotics within a numerical framework are the only possible approach for problems where the governing equations are too complex. Patching asymptotics also feature a number of merits such as the possibility of using a boundary layer with a finite extent. Aiming at a better understanding of this latter technique, the purpose of this paper was to determine the solution of a cable with a small bending stiffness. Interesting details about patchability conditions and about how to restore higher derivative continuity are included. The accuracy of the patching asymptotics approach is also compared with that of matched asymptotics.

Eulerian Formulation of Elastic Rods

In numerous biological, medical and engineering applications, elastic rods are constrained to deform inside or around tube-like surfaces. To solve efficiently this class of problems, the equations governing the deflection of elastic rods are reformulated within the Eulerian framework of this generic tubular constraint defined as a perfectly stiff normal ringed surface. This reformulation hinges on describing the rod-deformed configuration by means of its relative position with respect to a reference curve, defined as the axis or spine curve of the constraint, and on restating the rod local equilibrium in terms of the curvilinear coordinate parametrizing this curve. Associated with a segmentation strategy, which partitions the global problem into a sequence of rod segments either in continuous contact with the constraint or free of contact (except for their extremities), this re-parametrization not only trivializes the detection of new contacts but also transforms these free boundary problems into classic two-points boundary-value problems and suppresses the isoperimetric constraints resulting from the imposition of the rod position at the extremities of each rod segment.

Gender effect on the scapular 3D posture and kinematic in healthy subjects

Populations considered for shoulder analysis are often composed of various ratios of men and women. It is consequently hypothesized that gender has no significant effect on the joint kinematic. However, the literature reports, for the shoulder, differences in the range of motion between genders. The specific influence of gender on the scapulo‐thoracic kinematics has not been studied yet. The dominant shoulder of two populations of men and women composed of 11 subjects each were evaluated in three dimensions for three distinct motions: flexion in the sagittal plane, abduction in the frontal plane and gleno‐humeral internal/external rotation with the arm abducted at 90°. Posture, kinematics and range of motion were studied separately. For flexion and abduction and with regard to the scapular kinematic, external rotation was significantly larger for women than men. The differences were of at least 5° at 120° of humeral elevation. Upward rotations were identical. Women also showed larger average active humero‐thoracic range of motion. The mean differences were of 13°, 7°, 12° and 5° for abduction, flexion, internal rotation and external rotation, respectively. No difference was observed between the scapular resting positions of both populations. The observed differences concerning both the scapular and humeral patterns would indicate that the shoulder behaviour of men and women should not be expected to be similar.

Merging multi-camera data to reduce motion analysis instrumental errors using Kalman filters

In motion capture systems, markers are often seen by multiple cameras. All cameras do not measure the position of the markers with the same reliability because of environmental factors such as the position of the marker in the field of view or the light intensity received by the cameras. Kalman filters offer a general framework to take the reliability of the various cameras into account and consequently improve the estimation of the marker position. The proposed process can be applied to both passive and active systems. Several reliability models of the cameras are compared for the Codamotion active system, which is considered as a specific illustration. The proposed method significantly reduces the noise in the signal, especially at long-range distances. Therefore, it improves the confidence of the positions at the limits of the field of view.

Normalizing shoulder EMG: An optimal set of maximum isometric voluntary contraction tests considering reproducibility

Normalization of the electromyography (EMG) signal is often performed relatively to maximal voluntary activations (MVA) obtained during maximum isometric voluntary contraction (MVIC). The first aim was to provide an inter-session reproducible protocol to normalize the signal of eight shoulder muscles. The protocol should also lead to a level of activation >90% of MVA for >90% of the volunteers. The second aim was to evaluate the influence of the method used to extract the MVA from the EMG envelope on the normalized EMG signal. Thirteen volunteers performed 12 MVICs twice (one week interval). Several time constants (100ms to 2s) were compared when extracting the MVA from the EMG envelope. The EMG activity was also acquired during an arm elevation. Our results show that a combination of nine MVIC tests was required to meet our requirements including reproducibility. Both the number of MVIC tests and the size of the time constant influence the normalized EMG signal during the dynamic activity (variations up to 15%). A time constant of 1s was a good compromise to extract the MVA. These findings are valuable to improve the reproducibility of EMG signal normalization.

Extraction of temporal gait parameters using a reduced number of wearable accelerometers

Wearable inertial systems often require many sensing units in order to reach an accurate extraction of temporal gait parameters. Reconciling easy and fast handling in daily clinical use and accurate extraction of a substantial number of relevant gait parameters is a challenge. This paper describes the implementation of a new accelerometer-based method that accurately and precisely detects gait events/parameters from acceleration signals measured from only two accelerometers attached on the heels of the subject’s usual shoes. The first step of the proposed method uses a gait segmentation based on the continuous wavelet transform (CWT) that provides only a rough estimation of motionless periods defining relevant local acceleration signals. The second step uses the CWT and a novel piecewise-linear fitting technique to accurately extract, from these local acceleration signals, gait events, each labelled as heel strike (HS), toe strike (TS), heel-off (HO), toe-off (TO), or heel clearance (HC). A stride-by-stride validation of these extracted gait events was carried out by comparing the results with reference data provided by a kinematic 3D analysis system (used as gold standard) and a video camera. The temporal accuracy ± precision of the gait events were for HS: 7.2 ms ± 22.1 ms, TS: 0.7 ms ± 19.0 ms, HO: −3.4 ms ± 27.4 ms, TO: 2.2 ms ± 15.7 ms, and HC: 3.2 ms ± 17.9 ms. In addition, the occurrence times of right/left stance, swing, and stride phases were estimated with a mean error of −6 ms ± 15 ms, −5 ms ± 17 ms, and −6 ms ± 17 ms, respectively. The accuracy and precision achieved by the extraction algorithm for healthy subjects, the simplification of the hardware (through the reduction of the number of accelerometer units required), and the validation results obtained, convince us that the proposed accelerometer-based system could be extended for assessing pathological gait (e.g., for patients with Parkinson’s disease).