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A Data-Driven Approach for Estimating Postural Control Using an Inertial Measurement Unit 利用惯性测量单元估计姿态控制的数据驱动方法
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-70518
Anthony Giachin, J. J. Steckenrider, Gregory M Freisinger
In this paper, we propose a probabilistic multi-Gaussian parameter estimation technique which addresses the complex relationship between acceleration and ground force signals used to derive a human’s static center of pressure. The intent of this work is to develop an accurate accelerometer-based method for determining postural control and neuromuscular status which is more portable and cost-effective than force plate-based techniques. Acceleration data was collected using an inertial measurement unit while ground reaction forces were simultaneously measured using a force plate. Various metrics were calculated from both sensors and probabilistic data models were built to characterize the relationships between the two sensors. These models were used to predict force-based postural control metrics corresponding to observed acceleration metrics. Data collected from one participant was used as a training set to which the test data of two individuals were then applied. We conclude that converted acceleration-based metrics on average can accurately predict all the corresponding force-based metrics we studied here. Furthermore, the proposed multi-Gaussian parameter estimation approach outperforms a more basic linear transformation technique for 75% of the metrics studied, as evidenced by an increase in correlation coefficients between true and estimated force plate metrics.
在本文中,我们提出了一种概率多高斯参数估计技术,该技术解决了用于导出人体静态压力中心的加速度和地面力信号之间的复杂关系。这项工作的目的是开发一种精确的基于加速度计的方法来确定姿势控制和神经肌肉状态,这种方法比基于力板的技术更便携,成本效益更高。加速度数据采用惯性测量装置采集,地面反作用力采用测力板同时测量。从两个传感器计算各种指标,并建立概率数据模型来表征两个传感器之间的关系。这些模型用于预测与观察到的加速度指标相对应的基于力的姿势控制指标。从一个参与者收集的数据被用作训练集,然后应用两个人的测试数据。我们的结论是,转换后的基于加速度的指标平均可以准确地预测我们在这里研究的所有相应的基于力的指标。此外,所提出的多高斯参数估计方法在75%的指标研究中优于更基本的线性变换技术,证明了真实和估计的力板指标之间的相关系数增加。
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引用次数: 0
Advances in Noninvasive Diagnosis Based on Body Sounds and Vibrations – A Review 基于身体声音和振动的无创诊断研究进展
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-73815
Amirtahà Taebi, F. Khalili
This paper provides a brief overview of the advances in the area of early identification of different types of abnormalities and diseases, including respiratory illnesses and cardiovascular diseases, using noninvasive screening of biomedical acoustic signals. These signals include sounds and vibrations generated by different human body organs and systems that can be measured on the body surface using sensors such as stethoscopes and accelerometers. In this study, the measurement methods and signal processing algorithms for customized feature extraction and classification as well as clinical potentials, current limitations, and future directions are briefly reviewed and discussed.
本文简要介绍了生物医学声学信号的无创筛查在早期识别不同类型的异常和疾病(包括呼吸系统疾病和心血管疾病)方面的进展。这些信号包括由人体不同器官和系统产生的声音和振动,可以使用听诊器和加速度计等传感器在体表上测量。本文简要回顾和讨论了自定义特征提取和分类的测量方法和信号处理算法,以及临床潜力、当前局限性和未来发展方向。
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引用次数: 2
Reliability Check of an Assessment System for Parkinson’s Disease Tremor Monitoring With Portable Devices 便携式帕金森病震颤监测评估系统的可靠性检验
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-71144
Linda Zhu, Nathaniel S. Miller, Charlotte Tang, Sriram Pendyala, Quinn Hanses, Lacie Gladding
Tremor, or an involuntary and oscillatory movement of a body part, is a cardinal symptom of Parkinson’s disease (PD) that can significantly impact activities of daily living in people with PD (PwPD). Although tremor can be mitigated with anti-PD medications, medication effectiveness is mixed for PwPD. Therefore, daily monitoring and assessment of tremor are of interest to PwPD, clinicians, and researchers. While several sensors and wearable devices have been developed and introduced to the consumer market, high costs limit their accessibility. The current research is two-fold. First, an assessment system based on multiple algorithms is developed for evaluating the reliability of measurements of PD symptoms: hand tremor and finger/hand movement speed. Second, an Android mobile application was designed and developed to capture finger-tapping frequencies and measurements of several PD symptoms like hand tremor. A healthy young adult participant produced a self-generated tremor for this study. The participant held the portable device and conducted self-measurements by following in-app instructions. Resting tremor was measured while the participant rested his upper extremity on the arm of a chair, postural tremor was measured while he maintained a position against gravity, and kinetic tremor was measured during a movement task. Data collection took approximately fifteen minutes. The linear and rotational motions, respectively, were collected by accelerometers and gyroscopes embedded within the mobile device. The results were captured and delivered to a cloud database. An assessment system with multiple algorithms provided a final evaluation of the participant’s tremor. The process included three parts. First, calculation of root-mean-square (RMS) values at all linear and rotational directions was conducted to provide tremor strength. Second, fast Fourier transform (FFT) extracted the peak frequency at each direction. The powers of peaks were compared and the highest peak was defined as the dominant frequency and that frequency’s corresponding direction of motion. Third, hand and motion correlation analysis was used to find any coherence of tremor on 3-D motions. To test the reliability of motion measurement, the same motion input was applied to multiple devices simultaneously. The outputs of different types of mobile devices were evaluated, while considering various factors and models of mobile devices in the market (i.e., device size, weight, operating system, sampling frequency, and accuracy during the measurement). Multiple trials were conducted to test the reliability of the assessment system and the performance of the mobile app. Additionally, the mobile application supports finger tapping tests that measure hand movement speed, which is commonly impaired in PwPD. Both tremor and movement speed measurements can be used to evaluate disease progression over time and could support focused medication adjustments based on symptom data.
震颤,或身体部位的不自主振荡运动,是帕金森病(PD)的主要症状,可显著影响PD患者的日常生活活动。虽然抗pd药物可以减轻震颤,但PwPD的药物效果参差不齐。因此,日常监测和评估震颤是PwPD,临床医生和研究人员感兴趣的。虽然已经开发了几种传感器和可穿戴设备并将其引入消费者市场,但高昂的成本限制了它们的可及性。目前的研究是双重的。首先,我们开发了一个基于多种算法的评估系统,用于评估PD症状测量的可靠性:手部震颤和手指/手运动速度。其次,设计并开发了一个Android移动应用程序,以捕获手指敲击频率并测量手部震颤等几种PD症状。在这项研究中,一名健康的年轻成人参与者产生了一种自发的震颤。参与者手持便携设备,按照应用程序内的说明进行自我测量。静息性震颤是在参与者将上肢放在椅子扶手上时测量的,体位性震颤是在参与者保持对抗重力的姿势时测量的,动态震颤是在运动任务中测量的。数据收集大约需要15分钟。直线运动和旋转运动分别由嵌入移动设备的加速度计和陀螺仪收集。结果被捕获并传送到一个云数据库。一个具有多种算法的评估系统提供了参与者震颤的最终评估。这个过程包括三个部分。首先,计算所有线性方向和旋转方向的均方根(RMS)值,以提供震颤强度。其次,快速傅里叶变换(FFT)提取各方向的峰值频率;比较各峰的幂次,将最高的峰定义为主导频率和该频率对应的运动方向。第三,用手和运动相关分析来寻找震颤在三维运动中的相干性。为了测试运动测量的可靠性,将相同的运动输入同时应用于多个设备。在考虑市场上移动设备的各种因素和模型(即设备尺寸、重量、操作系统、采样频率和测量过程中的准确性)的同时,评估不同类型移动设备的输出。为了测试评估系统的可靠性和移动应用程序的性能,进行了多次试验。此外,移动应用程序支持手指敲击测试,测量手部运动速度,这在PwPD中很常见。震颤和运动速度测量可用于评估疾病随时间的进展,并可支持基于症状数据的重点药物调整。
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引用次数: 0
Development of an Organisational Framework for the Optimal and Efficient Selection of Actuators 一个组织框架的发展,为最优和有效的选择执行器
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-67744
P. Hanna, Marc G. Carmichael, L. Clemon
Actuators are a vital component, and more often than not one of the limiting factors in robotics and robotics related applications. For the use of actuators in robotics related to humanoids, exoskeletons, prosthetics and orthoses, there are more factors that influence the selected actuator than the basic mechanical outputs, size, backlash, material and power consumption. The main interest within these applications is that because the device is being carried by the human user, thus weight, power consumption and form factor are important selection parameters. The correct selection of an actuator for these applications is a difficult and lengthy process to perform. This paper creates an organizational framework and database for searching the wide range of actuators. This dataset is organized into a design tool that plots the properties of each actuator on varying graphs creating trade-off Ashby charts to rapidly narrow the selection space for designers. A case study is performed to demonstrate the use of this design tool in human-centric actuation applications. The database is utilized in the selection of the ideal actuator based on lines of best fit and a multivariate regression analysis for the optimization of parameters about the required specifications. In addition, a meta-analysis identifies clusters of current actuators, gaps for new developments, and trends. This work provides research direction into developing specific actuators to fit into these trend gaps which offers substantial benefits to humanoids, exoskeletons, prosthetics and orthosis.
执行器是一个重要的组成部分,往往不是限制因素之一,在机器人和机器人相关的应用。在类人、外骨骼、假肢和矫形器等机器人技术中,影响致动器选择的因素比基本机械输出、尺寸、间隙、材料和功耗等因素更多。这些应用的主要兴趣在于,由于设备是由人类用户携带的,因此重量、功耗和外形因素是重要的选择参数。为这些应用正确选择执行器是一个困难而漫长的过程。本文建立了一个组织框架和数据库,用于搜索范围广泛的执行器。该数据集被组织成一个设计工具,该工具将每个执行器的属性绘制在不同的图形上,创建权衡阿什比图,以快速缩小设计人员的选择空间。一个案例研究被执行,以演示使用这个设计工具在以人为中心的驱动应用。利用该数据库根据最佳拟合线选择理想的执行机构,并对所需规格的参数进行多元回归分析优化。此外,荟萃分析确定了当前驱动因素的集群,新发展的差距和趋势。这项工作为开发特定的驱动器提供了研究方向,以适应这些趋势差距,为人形,外骨骼,假肢和矫形器提供了实质性的好处。
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引用次数: 0
Morphological Markers and Determinants of Left Ventricular Systolic Dysfunction in Repaired Tetralogy of Fallot 修复后法洛四联症左心室收缩功能障碍的形态学标记和决定因素
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-70591
Sachin Govil, Nickolas Forsch, Sara Salehyar, K. Gilbert, Avan Suinesiaputra, S. Hegde, J. Perry, A. Young, J. Omens, A. McCulloch
Patients with repaired tetralogy of Fallot (rTOF) are at risk of long-term left ventricular (LV) dysfunction associated with poor outcomes. In this study, we examined the association of LV end-diastolic (ED) shape with components of systolic wall motion (SWM) that contribute to global systolic dysfunction in an rTOF patient cohort. Features of LV shape associated with conicity and septal wall curvature correlated with components of SWM. The effect of ED shape perturbations on SWM were examined in a finite element analysis of systolic ventricular mechanics. Variations in the combination of ED shape and myocardial contractility were able to match predicted measures of SWM. From these results, we hypothesize that greater LV conicity and a flatter septal wall are markers of reduced global myocardial contractility and should be examined further for clinical prognostic utility to improve patient outcomes.
修复性法洛四联症(rTOF)患者存在长期左心室功能障碍的风险,且预后不良。在这项研究中,我们在一个rTOF患者队列中研究了左室舒张末期(ED)形状与收缩壁运动(SWM)成分的关系,这些成分有助于整体收缩功能障碍。左室形状特征与圆度相关,室间隔壁曲率特征与SWM分量相关。在收缩心室力学的有限元分析中,研究了ED形状扰动对SWM的影响。ED形状和心肌收缩力组合的变化能够与SWM的预测测量相匹配。根据这些结果,我们假设更大的左室圆锥度和更平坦的间隔壁是心肌收缩力降低的标志,应该进一步检查临床预后,以改善患者的预后。
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引用次数: 1
A Comparison of Visco-Hypoelastic and Visco-Hyperelastic Model to Predict the Elastic Strain Energy for Articular Cartilage of Knee Joint 预测膝关节关节软骨弹性应变能的粘-低弹性与粘-超弹性模型比较
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-69494
R. González-Navarrete, A. Vidal-Lesso, Hector PLASCENCIA MORA, Xavier Ulises Huerta-Jacobo
The aim of this work is to propose a viscoelastic material model for human cartilage tissue that allows simulating its structural stiffness and elastic strain energy that absorbs per unit volume. For this, experimental data reported from flat cylindrical indentation test on human samples of seven patients with unicompartmental osteoarthritis (N = 7) were used. These data allowed the use of one linear model and the adjustment of two non-linear material models, a visco-hypoelastic (VE) and a visco-hyperelastic (VHE) model. The finite element models for the indentation test considered the indenter as a rigid body, the cartilage and subchondral bone as deformable bodies. The indentation force (F, material model structural reaction) and resilience modulus (Er, elastic strain energy per unit volume) were considered as validation parameters. The results suggest that largest differences respect to experimental data were found with the linear model (up to 44.33% for Er and 21.75% for F). The best model to reproduce the indentation force was the VHE (mean difference of 3.37±1.03%), while for the elastic strain energy per unit volume, the best model was the VE (mean difference of 16.65±12.74%).
本工作的目的是提出一种人体软骨组织的粘弹性材料模型,可以模拟其结构刚度和单位体积吸收的弹性应变能。为此,我们使用了7例单室骨关节炎患者(N = 7)人体样本扁平圆柱压痕试验报告的实验数据。这些数据允许使用一个线性模型和调整两个非线性材料模型,一个粘-低弹性(VE)和一个粘-超弹性(VHE)模型。压痕试验的有限元模型将压痕作为刚体,软骨和软骨下骨作为可变形体。以压痕力(F,材料模型结构反应)和弹性模量(Er,单位体积弹性应变能)作为验证参数。结果表明,线性模型与实验数据的差异最大(Er为44.33%,F为21.75%),对压痕力的最佳模拟模型为VHE(平均差值为3.37±1.03%),对单位体积弹性应变能的最佳模拟模型为VE(平均差值为16.65±12.74%)。
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引用次数: 0
Gait Stability Using Lyapunov Exponents 基于Lyapunov指数的步态稳定性研究
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-73242
J. Galarza, D. Caruntu, S. Vásquez, R. Freeman
This work deals with the stability of the dynamics of human gait. This is a common exercise. The focus of this investigation is to analyze the knee angle time series and calculate the divergence for over-ground and treadmill walking. Experiments using motion capture technology are used to capture the movement. MATLAB software package is used to calculate the Lyapunov Exponents from the time series. Results are compared with similar studies in the literature. This work provides an insight on the level of stability for treadmill walking. A comparison with stability of normal gait might give an insight on how the treadmill can facilitate rehabilitation using gait.
这项工作涉及人类步态动力学的稳定性。这是一个常见的练习。本研究的重点是分析膝关节角度的时间序列,并计算在地上和跑步机上行走的散度。实验采用动作捕捉技术捕捉运动。利用MATLAB软件包从时间序列中计算李雅普诺夫指数。结果与文献中类似研究进行了比较。这项工作提供了对跑步机行走的稳定性水平的见解。与正常步态稳定性的比较可能会让我们了解跑步机如何促进步态康复。
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引用次数: 0
Modeling the Biomechanics Parameters on Achilles Tendon Using OpenSim Simulations and Validating the Sensor Accuracy 基于OpenSim模拟跟腱生物力学参数并验证传感器精度
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-72108
Muhammad Salman, Zachary Contois, M. H. Tanveer
OpenSim is a free software platform that enables the user to preform interaction and movement simulations with human, animal, and robotic models. The software is accompanied by a vast user database of simulations and models which is available on the online community. By utilizing the resources available an accurate model can be created to represent any musculoskeletal configuration that happens in day-to-day activities. Forces and moments are calculated experimentally and verified by the OpenSim models for the Achilles Tendon. In this study, the muscle actuation of the Achilles Tendon is collected from multiple subjects and analyzed. Five subjects were tested for the data collection. Data was collected while the participant completed a concentric motion to ensure Achilles Tendon activation. The testing setup utilizes 3 miniature PCB accelerometers, a PCB 4-channel signal conditioner, a DAQ chassis, and a Modally Hand Impact Hammer in tandem with NI signal view express and MATLAB. Once the results from the study were analyzed, a virtual model was setup in the same configuration in OpenSim and the results from the simulation were compared to the results from the testing. The mechanical forces on the Achilles Tendon will be analyzed using the OpenSim software in order to better understand the muscle actuation at various loading levels. The proposed methods offer a non-invasive approach for studying in vivo muscle-tendon mechanics.
OpenSim是一个免费的软件平台,使用户能够与人类、动物和机器人模型进行交互和运动模拟。该软件附带了一个庞大的模拟和模型用户数据库,可以在在线社区中获得。通过利用现有的资源,可以创建一个精确的模型来表示日常活动中发生的任何肌肉骨骼结构。通过实验计算了跟腱的力和力矩,并用OpenSim模型进行了验证。在本研究中,收集了多个受试者的跟腱肌肉驱动并进行了分析。为收集数据,对5名受试者进行了测试。当参与者完成同心运动以确保跟腱激活时收集数据。该测试装置利用3个微型PCB加速度计、一个PCB 4通道信号调节器、一个DAQ机箱和一个模态手击锤,并结合NI信号视图express和MATLAB。一旦分析了研究结果,在OpenSim中以相同的配置设置虚拟模型,并将模拟结果与测试结果进行比较。使用OpenSim软件分析跟腱上的机械力,以便更好地理解不同负载水平下的肌肉驱动。所提出的方法为研究体内肌肉肌腱力学提供了一种非侵入性的方法。
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引用次数: 0
Neck Motions and Loads With Head Supported Mass Under Sagittal Accelerative Loading 矢状加速载荷下头部支撑质量的颈部运动和负荷
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-72109
Yuvaraj Purushothaman, N. Yoganandan
Studies have reported the susceptibility of females to cervical spine disorders under impact loading in the military and civilian populations. Inertial loading applied to the head-neck complex at its base is an example. Morphological differences exist between female and male cervical necks. The incidence of neck pain is more in the military than in the civilian populations. While use of the head supported mass is less common in the civilian populations, military personnel use head mounted devices: helmet, night vision goggles, etc. Any added head supported mass from the helmet and its attached devices adds to the in vivo head mass. This additional weight on the human head-neck system alters the load path, affects load-sharing, changes the internal forces and moments and kinematics on the osteoligamentous cervical spine column under accelerative and chronic loads. While many studies have been conducted to delineate the role of gender associated with postero-anterior Gx loading injury via experiments, clinical investigations, modeling and epidemiological research, the effect of the added head mass on segmental motions has received less attention. The objective of the study is to determine the role of the head supported mass on the segmental motions and loads on the female cervical spinal column from Gx loading applied to the base of the spine.
研究报告了女性在军事和平民人群中对冲击载荷下颈椎疾病的易感性。惯性载荷应用于其基础的头颈复合体就是一个例子。女性和男性的颈部在形态上存在差异。颈部疼痛在军人中的发病率高于平民。虽然在平民中使用头部支撑的质量不太常见,但军事人员使用头戴式设备:头盔,夜视镜等。来自头盔及其附属装置的任何增加的头部支撑质量都增加到体内头部质量。人体头颈系统的这种额外重量改变了载荷路径,影响了载荷分担,改变了骨少根颈椎柱在加速和慢性载荷下的内力、力矩和运动学。虽然许多研究通过实验、临床调查、建模和流行病学研究来描述性别在Gx后前负荷损伤中的作用,但增加的头部质量对节段运动的影响受到的关注较少。本研究的目的是确定头部支撑体对女性颈椎节段运动和负荷的作用,这些负荷来自于脊柱基部的Gx负荷。
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引用次数: 1
Algorithm to Avoid Normal Tissue Sacrifice and Thermal Injury of Neighbouring Organs During Radiofrequency Ablation of HCC Tumours Treated Using a Multi-Tine Electrode With Separately Controlled Tines 不同控制时间的多时间电极射频消融治疗HCC肿瘤时避免正常组织牺牲和邻近器官热损伤的算法
Pub Date : 2021-11-01 DOI: 10.1115/imece2021-69744
M. Dhiman, R. Repaka
Radiofrequency ablation of Hepatocellular Carcinomas lacks electrode level feature to (a) avoid the risk of thermal injury to the neighbouring organs and (b) avoid the sacrifice of normal hepatic tissue. The absence of such a feature causes additional intrusion of the human body to overcome the first problem, while there is no solution for the latter problem. An algorithm has been developed and implemented using an unconventional multi-tine RFA electrode to incur ablations specific to the shape and position of target tumours to solve these problems. Further, this algorithm can suggest the best insertion angle for the trocar, such that minimum normal tissue is sacrificed. This suggestion is made quickly with the help of a pre-simulated database. For verification of the algorithm, pre-segmented tumours have been used as inputs and damages incurred with and without algorithm have been compared.
肝细胞癌的射频消融缺乏电极水平的特征,无法(a)避免邻近器官的热损伤风险,(b)避免正常肝组织的牺牲。如果没有这一特征,就会对人体造成额外的侵入,以克服第一个问题,而后一个问题则没有解决方案。为了解决这些问题,研究人员开发并实施了一种算法,该算法使用一种非常规的多次射频消融电极,根据目标肿瘤的形状和位置进行消融。此外,该算法还可以建议套管针的最佳插入角度,从而使正常组织损失最小。在预模拟数据库的帮助下,这个建议很快就得到了。为了验证算法,使用预分割的肿瘤作为输入,并比较了使用和不使用算法所造成的损害。
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引用次数: 0
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Volume 5: Biomedical and Biotechnology
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