Search Results (168)

Background: Anterior cruciate ligament reconstruction (ACLr) often leads to asymmetries between limbs, with variable return-to-performance rates in athletes. The single-leg countermovement jump (SLCMJ) is commonly used to assess postoperative knee function. However, limited research has explored deficits specifically during the unweighting phase of the jump. Methods: This study assessed 53 recreational athletes (11 females, 42 males) between 6 and 9 months post-ACLr using a dual force plate system (1000 Hz). Each participant performed three maximal-effort SLCMJs per limb. Outcome measures included jump height, negative peak velocity, minimum force, and center of mass (COM) displacement. Paired t-tests and Wilcoxon tests were used to compare the ACLr limb with the contralateral limb. Results: Compared to the healthy limb, the ACLr limb showed significantly lower negative peak velocity (−0.80 ± 0.40 m/s vs. −0.94 ± 0.40 m/s, p < 0.001), higher minimum force (36.75 ± 17.88 kg vs. 32.05 ± 17.25 kg, p < 0.001), and reduced COM displacement (−17.62 ± 6.25 cm vs. −19.73 ± 5.34 cm, p = 0.014). Eccentric phase duration did not differ significantly. Conclusions: Athletes post-ACLr demonstrate altered neuromuscular control during the early SLCMJ phase. These findings highlight the importance of rehabilitation strategies targeting eccentric strength and symmetry restoration. Full article

This study investigated the interplay of bodily degrees of freedom (DoFs) governing the collective variable comprising the center of pressure (CoP) and center of mass (CoM) in postural control through the analytical lens of multiplicative interactions across scales. We employed a task combination involving a wobble board, introducing mechanical instability mainly along the mediolateral (ML) axis and the Trail Making Task (TMT), which imposes precise visual demands primarily along the anteroposterior (AP) axis. Using Multiscale Regression Analysis (MRA), a novel analytical method rooted in Detrended Fluctuation Analysis (DFA), we scrutinized CoP-to-CoM and CoM-to-CoP effects across multiple timescales ranging from $100\mathrm{ms}$ to $10\mathrm{s}$. CoP was computed from ground reaction forces recorded via a force plate, and CoM was derived from full-body 3D motion capture using a biomechanical model. We found that the wobble board attenuated CoM-to-CoP effects across timescales ranging from $100\mathrm{to}400\mathrm{ms}$. Further analysis revealed nuanced changes: while there was an overall reduction, this encompassed an accentuation of CoM-to-CoP effects along the AP axis and a decrease along the ML axis. Importantly, these alterations in CoP’s responses to CoM movements outweighed any nonsignificant effects attributable to the TMT. CoM exhibited no sensitivity to CoP movements, regardless of the visual and mechanical task demands. In addition to identifying the characteristic timescales associated with bodily DoFs in facilitating upright posture, our findings underscore the critical significance of directionally challenging biomechanical constraints, particularly evident in the amplification of CoP-to-CoM effects along the AP axis in response to ML instability. These results underscore the potential of wobble board training to enhance the coordinative and compensatory responses of bodily DoFs to the shifting CoM by prompting appropriate adjustments in CoP, thereby suggesting their application for reinstating healthy CoM–CoP dynamics in clinical populations with postural deficits. Full article

In this study, 3-chlorothiophene-2-carboxylic acid (HL) was used as a main ligand to successfully synthesize four novel complexes: [Cu(L)₂(Py)₂(OH₂)₂] (1), [Co(L)₂(Py)₂(OH₂)₂] (2) (Py = pyridine), [{Ni(L)₂(OH₂)₄}₂{Ni(L)(OH₂)₅}]L•5H₂O (3), and [{Co(L)₂(OH₂)₄}₂{Co(L)(OH₂)₅}]L•5H₂O (4). All four compounds were identified by elemental analysis and ESI mass spectrometry, and subsequently characterized by IR spectroscopy, UV-visible diffuse reflectance spectroscopy, electron paramagnetic resonance spectroscopy, thermogravimetric analysis, single-crystal X-ray crystallography, and cyclic voltammetry. X-ray analyses revealed that complexes 1 and 2 exhibit a centrosymmetric pseudo-octahedral coordination geometry; the copper (II) and cobalt (II) metal ions, respectively, are located at the crystallographic center of inversion. The coordination sphere of the copper (II) complex is axially elongated in accordance with the Jahn–Teller effect. Intriguingly, for charge neutrality, compounds 3 and 4 crystallized as three independent mononuclear octahedrally coordinated metal centers, which are two $\left[\mathrm{M}{\mathrm{L}}_2{\left({\mathrm{O}\mathrm{H}}_2\right)}_4\right]$ complex molecules and one ${\left[\mathrm{M}\mathrm{L}{\left({\mathrm{O}\mathrm{H}}_2\right)}_5\right]}^{+}$ complex cation (M = ${\mathrm{N}\mathrm{i}}^{\mathrm{I}\mathrm{I}}$ and ${\mathrm{C}\mathrm{o}}^{\mathrm{I}\mathrm{I}}$, respectively), with the ligand anion ${\mathrm{L}}^{-}$ serving as the counter ion. The anticancer activities of these complexes were systematically assessed on human leukemia K562 cells, lung cancer A549 cells, liver cancer HepG2 cells, breast cancer MDA-MB-231 cells, and colon cancer SW480 cells. Among them, complex 4 shows significant inhibitory effects on leukemia K562 cells and colon cancer SW480 cells. Full article

Balance control in pirouettes has previously been characterized by constraint of the topple angle. However, there is a paucity of research using the margin of stability (MoS) as a dynamic measure of balance related to pirouettes. Therefore, this study aimed primarily to examine the MoS as a metric of balance during a single-turn en dehors pirouette in healthy female amateur ballet dancers. Four participants performed pirouettes until five successful pirouettes were achieved without hopping or loss of balance. Three-dimensional motion capture was used to record the motion trajectories of anatomical markers based on the Plug-in-Gait and Oxford Foot models. Motion synchronized with ground reaction forces was used to calculate the center of pressure (CoP), base of support (BoS), center of the pivot foot, center of mass (CoM), and extrapolated center of mass (XCoM) throughout the turn phase, using laboratory (LCS) and virtual left foot (LFT) coordinate systems. In the LCS and LFT coordinate system, the excursions and patterns of motion of both the CoM and XCoM relative to the CoP were similar, suggesting a neurological relationship. Two different measures of the margin of stability (MoS) in the LFT coordinate system were tabulated: the distance between the (1) XCoM and CoP and (2) XCoM and BoS center. The magnitude of both versions of the MoS was greatest at turn initiation and toe-touch, which was associated with two foot contacts. The MoS values were at a minimum approximately 50% of the stance during the turn phase: close to zero along the anteroposterior (A/P) axis and approximately 50 mm along the mediolateral (M/L) axis. On average, MoS magnitudes were reduced (mean across participants: approximately 20 mm) along the A/P axis, and larger MoS magnitudes (mean across participants: approximately 50 mm) along the M/L axis throughout the turn phase. Although all turns analyzed were completed successfully, the larger MoS values along the M/L axis suggest a fall potential. The variability between trials within a dancer and across participants and trials was documented and showed moderate inter-trial (16% to 51%) and across-participant CV% (range: 10% to 28%), with generally larger variations along the A/P axis. Although our results are preliminary, they suggest that the MoS may be useful for detecting faults in the control of dynamic balance in dehors pirouette performance, as a part of training and rehabilitation following injury. Full article

Aim. This study aimed to assess the SARS-CoV-2 herd immunity in the Republic of Armenia (RA) by late 2022. Materials and Methods. A randomized study was conducted from 28 November to 2 December (2022) by the Saint Petersburg Pasteur Institute (Russia) in collaboration with the National Center for Disease Control and Prevention (Armenia). This study was approved by the ethics committees at both organizations. A volunteer cohort (N = 2974) was formed and grouped by participant age, region, or activity. Antibodies (Abs) to viral nucleocapsid antigen (Nc) and receptor-binding domain (RBD) in plasma were determined by ELISA. The statistical significance of differences was calculated using a p < 0.05 threshold, unless noted. Results. At the end of 2022, estimated SARS-CoV-2 seroprevalence (Nc and/or RBD Abs) among the Armenian population was 99% (95%CI: 98.5–99.3). It was evenly distributed throughout the cohort without any significant differences by age, region, or activity. Volunteers with low (32–124 BAU/mL) or medium (125–332 BAU/mL) anti-Nc Ab levels prevailed: 32.4% (95%CI: 30.7–34.1) and 25.5% (95% CI: 24.0–27.1), respectively. Regarding anti-RBD Abs, maximum levels (>450 BAU/mL) were detected in 40% of children. The share of individuals with high anti-RBD Abs levels increased with age, reaching 65% among those aged 70⁺ years. The important contribution to the formation of herd immunity to coronavirus infection was made by vaccination in the preceding period (1 April 2021 to 1 May 2022). The contribution from individuals with post-vaccination immunity was estimated to be above 80%. Hybrid immunity, formed after vaccination of those who had earlier experienced COVID-19, was characterized by greater effectiveness than post-vaccination immunity alone. Conclusions. Within the context of mass prophylactic vaccination, effective herd immunity to SARS-CoV-2 was formed, which helped to stop epidemic spread in the Republic. Full article

This study aimed to explore the independent and interactive effects of varying squat depths and movement speeds on dynamic postural stability during the Part the Wild Horse’s Mane (PWHM) movement. Thirteen male participants (age: 25.86 ± 1.35 years; height: 174.26 ± 6.09 cm; body mass: 68.64 ± 8.15 kg) performed the PWHM movement at three different squat heights, high squat (HS), middle squat (MS), low squat (LS), and two different speeds, fast and slow. Dynamic postural stability (DPSI) was assessed through the center-of-mass (CoM) trajectory and the center-of-pressure (CoP) trajectory. The analyses used two-factor repeated-measures ANOVA and statistical nonparametric mapping, with key metrics including anteroposterior stability (APSI), mediolateral stability (MLSI), vertical stability (VSI), DPSI indices, and the path lengths of the CoP and CoM. LS exhibited significantly greater CoP and CoM path lengths compared with MS and HS (p < 0.01). Furthermore, fast movements demonstrated higher VSI and DPSI than slow movements (p < 0.05). Tai Chi with different squat depths and speeds can affect postural stability. To reduce the fall risk, older adults and individuals with balance impairments should prioritize slower Tai Chi movements, particularly when using high squat postures. Full article

Background: Among older adults, there is a high incidence of history of fall (HoF), fear of falling (FoF), and falls on stair descent during gait transitions. Purpose: We aim to evaluate the association between HoF and FoF on spatiotemporal and lower-limb kinematic parameters in older adults during stair descents and gait transitions. Methods: Sixty older adults (>60 years) were evaluated through an optoelectrical motion capture system during stair descents and gait transitions, using the mean value of the task velocity and time; single- and double-support time; peak downward center of mass (CoM) velocity; hip, knee, and ankle positions of ipsi and the contralateral limb; and foot clearance and foot placement, assessed through multivariate analysis of variance. Results: FOF exhibited longer time to complete (p = 0.009) and double-support (p = 0.047) and single-support (p = 0.009) times and a reduced peak downward CoM velocity (p = 0.043). In the gait transition cycle, HOF exhibited reduced ipsi ankle angles at toe-off (p = 0.015), and FOF presented reduced ipsi ankle angles at heel-strike (p = 0.041) and toe-off (p = 0.026) and reduced contralateral ankle angles at toe-off (p = 0.022). Conclusion: Older adults with HoF and FoF exhibit biomechanical changes during stair descents and gait transitions, in line with the use of more conservative strategies to avoid falling. Full article

A humanoid robot has a similar form to humans, allowing it to be deployed directly into many existing infrastructures built for people, making it highly applicable to future industries or services. However, generating motion is challenging, and it is highly affected by disturbances due to its complex dynamic characteristics. This paper proposes a method to enable a biped robot to achieve stable motion in various environments. The capture point (CP) control is used to modify the zero moment point (ZMP) to stabilize the naturally divergent dynamics of the simplified linear inverted pendulum model (LIPM) and a model predictive control (MPC) framework is implemented to generate a center of mass (COM) trajectory that tracks the adjusted ZMP. To minimize angular momentum caused by disturbances and discrepancies between the actual robot and the dynamics model, arm motion is generated through a momentum controller. Various walking simulations were conducted to verify stable whole-body motion. Full article

This paper presents the design and control of a quadruped robot equipped with a six-degree-of-freedom (6-DOF) bionic active torso based on a parallel mechanism. Inspired by the compliant and flexible torsos of quadrupedal mammals, the proposed torso structure enhances locomotion performance by enabling coordinated motion between the torso and legs. A complete kinematic model of the bionic torso and the whole body of the quadruped robot is developed. To address the variation in inertial properties caused by torso motion, a model predictive control (MPC) strategy with a variable center of mass (CoM) is proposed for integrated whole-body motion control. Comparative simulations under trot gait are conducted between rigid-torso and active-torso configurations. Results show that the active torso significantly improves gait flexibility, postural stability, and locomotion efficiency. This study provides a new approach to enhancing biomimetic locomotion in quadruped robots through active torso-leg coordination. Full article

This study investigates the kinematic characteristics of the free vertical split with 720° turn (C 807). C 807 is the international designation in rhythmic gymnastics for a free vertical split with a 720° turn. This research holds significant importance in enhancing the technical proficiency of gymnasts and reducing their risk of injury. Eight national-level female gymnasts (age = 20 ± 3 years) performed the C 807. Kinematic data were collected using a 3D motion capture system. The movement was divided into four phases, and Visual 3D (V6.0, CMotion, Germantown, MD, USA) software was used for data processing and analysis. The joint angles of the upper and lower limbs, as well as the torsion angles of the lower limb joints, were analyzed. Key findings included tibial torsion, knee hyperextension in the support leg, and changes in elbow flexion during each phase. The center of mass (COM) trajectory showed that, during the backward preparatory swing phase, COM height gradually decreased and slightly increased before the initiation phase. In the initiation phase, COM height initially decreased and then increased, while the rotation phase showed fluctuating but stable COM height. The results highlight the importance of joint angle control and COM fluctuations during movement. Training should focus on leg swing speed, lower limb strength, knee stability, and upper limb coordination to enhance balance, improve rotation speed, and prevent injuries. Full article

With the popularity of quadruped robots, the main challenge they must overcome is traversing unstructured environments. Current methods that allow modern robots to traverse challenging terrain are unsuitable for situations at the edge of robot performance, where torque limits and contact forces must be carefully considered. This paper will investigate a way of generating feasible center of mass (CoM) trajectories applicable in such cases. A feasible CoM trajectory is one that the robot can perform considering contact, torque, and reachability constraints. We improve the existing method for finding feasible CoM regions, yielding a thirty times speedup so that it can run under 1 ms. Based on that improvement, we introduce a new iterative CoM planner that sequentially solves prioritized constrained IK and computes feasible regions. That way, we guarantee the satisfaction of contact constraints, torque constraints, and reachability. The planned motion was performed using a whole-body controller. We tested the approach on high-fidelity simulation and on real Solo12 quadruped, achieving the control loop frequency of 1 kHz. The whole codebase has been disclosed on GitHub. Full article

Balance assessment is a key metric for tracking the health and fall risk of individuals with balance impairment. Leveraging wearable sensors and mobile devices can increase clinical accessibility to objective balance metrics. Previous work has been conducted validating center of mass (COM) acceleration metrics from mobile devices against the gold standard force plate center of pressure (COP) position; however, most studies have been restricted to devices being placed close to the subject’s COM. In this study, rigid body kinematics and the inverted pendulum model were used to develop a novel methodology for calculating COM acceleration using mobile devices in arbitrary positions, as well as an approach for conversion of COM measurements to COP position for direct validation with force plate measurements. Validation of this methodology included a direct comparison of smartphone and force plate results for COM accelerations and COP positions, as well as statistical comparisons using Spearman’s rank correlation. The results show strong analysis performance for both approaches during a subject’s intentional swaying, with more limited results in cases of little motion. The strong performance warrants future work to further improve accessibility by removing dependence on motion capture systems or replacing them with cost-effective alternatives. The accurate tracking of COM acceleration and COP position information for mobile devices at arbitrary positions increases the flexibility for future mobile or at-home balance assessments. Full article

In alpine skiing, accurate and real-time estimation of body pose and inclinations due to turning is critical as it demonstrates the skier’s turning behavior and abilities. Although inertial measurement units (IMUs) ease measuring kinematics in extreme conditions and provide such indications of skiers’ behavior, they often suffer from sensor placement and orientation variability. This study explains the impact of sensor placement and orientation on the captured signals and proposes a preprocessing algorithm that can rotate raw signals from various locations and orientations similar to those near the Center of Mass (CoM). The preprocessing algorithm involves a sensor fusion approach using a quaternion-based complementary filter (CF) to rotate raw signals and extract turning motions via the global wavelet spectrum. Our experiment, validated on data collected from 14 sensors including two smartphones placed on different body parts during skiing sessions, demonstrates that the preprocessing algorithm can effectively reconstruct side motions, represent skiing turns, and detect turns independent of sensor placement and orientation. In field experiments with six skiers, the suggested preprocessing algorithm consistently detected skiing turns with an overall RMSE of 0.77 and MAE of 0.50 on all of the sensors relative to a reference sensor. Full article

Background: The aim of this study was to evaluate whether increased body mass index (BMI) and biochemical and lifestyle parameters linked to obesity and smoke exposure disrupt immune responses of children and adolescents following vaccination with the mRNA BNT162b2 vaccine. Methods: A prospective, single-center, cohort study was conducted. Participants were assigned to receive two doses of the mRNA vaccine. Anti-SARS-CoV-2 IgG and neutralizing antibodies (AB) were measured before vaccination (T0) and 14 days after the second dose (T1). BMI and biochemical parameters were evaluated at T0. A questionnaire on lifestyle characteristics was filled in. Results: IgG optical density (OD) ratio at T1 was lower in the overweight–obese group regardless of COVID-19 disease positive history [p = 0.028 for the seronegative group, p = 0.032 for the seropositive group]. Neutralizing AB were lower in overweight–obese participants in the seronegative group at T1 [p = 0.008]. HDL, fasting glucose/insulin ratio (FGIR), C-reactive protein (CRP), HBA1c, uric acid, and smoke exposure were significantly correlated with BMI [p = 0.006, p < 0.001, p < 0.001, p = 0.006, p = 0.009, p < 0.001, respectively]. The main biochemical parameters that were inversely correlated with IgG and neutralizing AB titers at T1 were uric acid [p = 0.018, p = 0.002], FGIR [p = 0.001, p = 0.008] and HBA1C [p = 0.027, p = 0.038], while smoke exposure negatively affected the humoral immune responses at T0 in the convalescent group [p = 0.004, p = 0.005]. Conclusions: Current data suggests that uric acid, insulin resistance (IR), and smoke exposure could adversely affect the immune responses in overweight–obese vaccinated children, highlighting the need for actions to enhance the protection of this particular subgroup. Full article

Team dynamics significantly influence the outcomes of modern football matches. This study employs an information-theoretical approach, specifically causal emergence, combined with graph theory to explore how team-level dynamics arise from complex interactions among players, utilizing tracking data from 34 J-League matches. We focused on how collective behaviors arise from the interdependence of individual actions, examining team coordination and dynamics through player positions and movements to identify emergent properties. Specifically, we selected relative distance to the field’s center, center of mass (CoM) and clustering coefficients based on velocity similarity and inverse distance as macroscopic features to capture the key aspects of team structure, coordination, and spatial relationships. Relative distance and CoM represent the collective positioning of the team, while clustering coefficients provide insights into localized cooperation and movement similarity among the players. The results indicate that average causal emergence with relative distance and CoM as a macroscopic feature across entire games shows a strong correlation with differences in ball possession rate between home and away teams. In contrast, clustering coefficients based on inverse distance and velocity similarity showed moderate to weak correlations with ball possession rate, indicating that these metrics may capture localized interactions that are less directly tied to team-level emergent behavior compared to CoM. Additionally, relative distance and CoM as macroscopic features yield higher causal emergence in attacking phases than in defending phases before shooting, suggesting that the collective positioning of players may play a more significant role in facilitating successful attacks than in defensive stability. This study offers a novel perspective on team coordination in football, suggesting that effective team coordination may be characterized by emergent patterns arising from collective positioning. These findings have practical implications for understanding coordinated team behaviors and inform coaching and performance analysis focused on enhancing team dynamics. Full article