Search Results (7)

Objective: The aim of this study was to establish the interactions between joint angular kinematics and gross motor function in typically developing healthy Ghanaian children. Methods: A descriptive cross-sectional study design was employed. A total of 150 (69 (46.0%), 3.25 ± 0.08-year-old boys and 81 (54.0%), 3.25 ± 0.06-year-old girls) 2–4-year-old children were recruited. Joint angular kinematic variables [left hip flexion (LHF), left hip extension (LHE), right hip flexion (RHF), left knee flexion (LKF), right hip extension (RHE), left knee extension (LKE), right knee flexion (RKF), left ankle dorsi-flexion (LADF), right knee extension (RKE), right ankle plantar flexion (RAPF), left ankle plantar flexion (LAPF), and right ankle dorsi-flexion (RADF)] and gross motor function (lying and rolling, sitting, crawling and kneeling, standing, and walking, running, and jumping) were measured with standard scales. Results: The correlations between lying and rolling vs. RHE (r = 0.221; p-value < 0.01), LKE (r = −0.267; p-value < 0.01), LAPF (r = 0.264; p-value < 0.01), and RADF (r = 0.240; p-value < 0.01); crawling and kneeling vs. LKE (r = 0.196; p-value < 0.05) and RADF (r = 0.188; p-value < 0.05); and walking, running, and jumping vs. LKE (r = −0.214; p-value < 0.01) and RADF (r = −0.207; p-value < 0.05) were significant. Conclusions: There was a negative correlation between joint angular kinematics and total gross motor function in this sampled population. Typically, developing healthy children should be exposed to a range of motion, flexibility, and active transportation programs for optimal active lifestyles and improvements in gross motor skills. Full article

A third of older adults will fall each year and many will not be injured. Getting up from the floor in a timely manner is important, however it is unclear what technique older adults use to get themselves up off the ground unassisted, whether there are differences between men and women in getting up and what functional joint kinematics are used to rise from the floor. This study included a convenience sample of 20 older adults (65+ years) to answer these questions. Participants completed a series of movement tasks (i.e., rising from the floor using their own technique, a specified technique, walking 10 m and five repeated sit-to-stands), with temporospatial and joint kinematic data captured using an 18-camera 3D Vicon motion analysis system. Results found three techniques preferred by participants; the sit-up (n = 12), side-sit (n = 4) and the roll over (n = 4), with no differences found between sexes. The sit-up technique requires a higher degree of hip and knee flexion to complete compared to the side-sit and roll over. It may be beneficial for health professionals to work with older adults to identify their preferred technique for rising from the floor and encourage regular practice of this skill. Full article

Supine rollover plays an important role in the prevention of pressure sores in long-term bedridden patients. It is of great significance to study the mechanism of human supine rollover movement and to design the rehabilitation rollover mechanism in line with man-machine cooperation. In human supine rollover movement, shoulder and hip are the key parts of force application. Based on anatomical theory, the motion trajectory information of shoulder and hip skeletal rehabilitation parts is collected by combining optical motion capture and rigid body modeling. Following a kinematics simulation analysis, the simulation curve was compared with the experimental curve track; the numerical difference was small. It is proved that the simulation model is correct, and it is also shown that the designed rehabilitation rollover mechanism can better reproduce the natural rolling motion state of the human body. It can meet the requirements of human-machine synergistic assisted lateral roll rehabilitation aids and provides a solution for pressure sore prevention. Full article

Background and Objectives: No gold standard exists for treating persistent periprosthetic knee infections. Knee arthrodesis represents one treatment concept for extensive bone defects and extensor system insufficiencies. It has already been shown that knee arthrodesis leads to a significant reduction in one’s quality of life. The aim of this survey was to assess the influence of knee arthrodesis on the neighboring joints on the basis of gait analysis data. Our hypothesis is that the hip and ankle joints are negatively influenced by knee arthrodesis in the process of walking. Materials and methods: We performed six pedobarographic and four gait analytical measurements in six patients 2.4 ± 1.6 years after receiving knee arthrodesis at the operating ages of 69.1 ± 9.2 years. Gait analysis consisted of time–distance parameters/minute (number of steps, double support, cycle time, standing phase, step length, gait speed). A healthy group of test subjects (n = 52) was included as the control cohort. Gait analysis was conducted using a three-dimensional movement system and three force-measuring platforms to determine the ground reaction force. Foot pressure was measured using a pedography platform. Results: Five of six patients presented an incomplete rolling movement over the toes on the side that was operated on, presenting with a gait line ending in the forefoot area. All of the patients bore less weight on the side that was operated on. Three of six patients demonstrated a pathological gait line with a healthy opposite side ending in the forefoot area. All of the patients exhibited a reduction in gait speed and step length and a lower number of steps. All of the patients had a prolonged double support/cycle time. Conclusions: Isolated knee arthrodesis is associated with reduced forefoot repulsion, restricted movement on the side receiving the operation, and reduced movement in the ankle/knee joint. The hip showed norm deviations in the hip moment/angle. Knee arthrodesis causes reduced gait kinetics/kinematics. Our survey shows that the relative joint moments of the ankle joint and hip are often reduced. The ankle joint is more affected compared to the hip. Full article

The purpose of this study was to determine the effect of breathing laterality on hip roll kinematics in submaximal front crawl swimming. Eighteen elite competitive swimmers performed three 100 m front crawl trials at a consistent sub-maximal speed (70% of seasonal best time) in a 25 m pool. Each trial was performed with one of three different breathing conditions: (1) unilateral breathing (preferred side), (2) bilateral breathing (alternating left/right-side every 3 strokes) and (3) simulated non-breathing using a swim snorkel. A waist-mounted triaxial accelerometer was used to determine continuous hip roll angle throughout the trial, from which peak hip roll angles (Ө) and average angular velocities (ω) were calculated. Two-way repeated measures ANOVAs were used to identify significant main effects for laterality (preferred vs. non-preferred breathing sides) and condition (unilateral, bilateral and snorkel breathing) for both Ө and ω. Peak hip roll to the preferred side was significantly greater (p < 0.001) in the unilateral condition, while ω to the non-preferred side was significantly greater in the unilateral (p < 0.01) and bilateral (p < 0.04) conditions. Significant same-side differences were also found between the different breathing conditions. The results demonstrate that breathing laterality affects hip roll kinematics at submaximal speeds, and that unilateral and snorkel breathing are associated with the least and most symmetric hip roll kinematics, respectively. The findings show that a snorkel effectively balances and controls bilateral hip rotation at submaximal speeds that are consistent with training, which may help to minimize and/or correct roll asymmetries that are the result of unilateral breathing. Full article

To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments. Full article

In this work, we introduced a novel hybrid reinforcement learning scheme to balance a biped robot (NAO) on an oscillating platform, where the rotation of the platform is considered as the external disturbance to the robot. The platform had two degrees of freedom in rotation, pitch and roll. The state space comprised the position of center of pressure, and joint angles and joint velocities of two legs. The action space consisted of the joint angles of ankles, knees, and hips. By adding the inverse kinematics techniques, the dimension of action space was significantly reduced. Then, a model-based system estimator was employed during the offline training procedure to estimate the dynamics model of the system by using novel hierarchical Gaussian processes, and to provide initial control inputs, after which the reduced action space of each joint was obtained by minimizing the cost of reaching the desired stable state. Finally, a model-free optimizer based on DQN (λ) was introduced to fine tune the initial control inputs, where the optimal control inputs were obtained for each joint at any state. The proposed reinforcement learning not only successfully avoided the distribution mismatch problem, but also improved the sample efficiency. Simulation results showed that the proposed hybrid reinforcement learning mechanism enabled the NAO robot to balance on an oscillating platform with different frequencies and magnitudes. Both control performance and robustness were guaranteed during the experiments. Full article