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      Upper Limb Kinematics Using Inertial and Magnetic Sensors: Comparison of Sensor-to-Segment Calibrations

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          Abstract

          Magneto-Inertial Measurement Unit sensors (MIMU) display high potential for the quantitative evaluation of upper limb kinematics, as they allow monitoring ambulatory measurements. The sensor-to-segment calibration step, consisting of establishing the relation between MIMU sensors and human segments, plays an important role in the global accuracy of joint angles. The aim of this study was to compare sensor-to-segment calibrations for the MIMU-based estimation of wrist, elbow, and shoulder joint angles, by examining trueness (“close to the reference”) and precision (reproducibility) validity criteria. Ten subjects performed five sessions with three different operators. Three classes of calibrations were studied: segment axes equal to technical MIMU axes (TECH), segment axes generated during a static pose (STATIC), and those generated during functional movements (FUNCT). The calibrations were compared during the maximal uniaxial movements of each joint, plus an extra multi-joint movement. Generally, joint angles presented good trueness and very good precision in the range 5°–10°. Only small discrepancy between calibrations was highlighted, with the exception of a few cases. The very good overall accuracy (trueness and precision) of MIMU-based joint angle data seems to be more dependent on the level of rigor of the experimental procedure (operator training) than on the choice of calibration itself.

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          Repeatability of kinematic, kinetic, and electromyographic data in normal adult gait.

          M. Kadaba, H K Ramakrishnan, M Wootten … (1989)
          The repeatability of gait variables is an important consideration in the clinical use of results of quantitative gait analysis. Statistical measures were used to evaluate repeatability of kinematic, kinetic, and electromyographic data waveforms and spatiotemporal parameters of 40 normal subjects. Subjects were evaluated three times on each test day and on three different test days while walking at their preferred or natural speed. Intrasubject repeatability was excellent for kinematic data in the sagittal plane both within a test day as well as between test days. For joint angle motion in the frontal and transverse planes, the repeatability was good within a test day and poor between test days. Poor between-day repeatability of joint angle motion in the frontal and transverse planes was noted to be partly due to variabilities in the alignment of markers. Vertical reaction and fore-aft shear forces were more repeatable than the mediolateral shear force. Sagittal plane joint moments were more repeatable than frontal or transverse plane moments. For electromyographic data, repeatability within a day was slightly better than between test days. In general, the results demonstrate that with the subjects walking at their natural or preferred speed, the gait variables are quite repeatable. These observations suggest that it may be reasonable to base significant clinical decisions on the results of a single gait evaluation.
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            Position and orientation in space of bones during movement: anatomical frame definition and determination

            A Cappozzo, F Catani, U. Della Croce … (1995)
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              Human movement analysis using stereophotogrammetry. Part 3. Soft tissue artifact assessment and compensation.

              Alberto Leardini, Ugo Della Croce, Aurelio Cappozzo … (2005)
              When using optoelectronic stereophotogrammetry, skin deformation and displacement causes marker movement with respect to the underlying bone. This movement represents an artifact, which affects the estimation of the skeletal system kinematics, and is regarded as the most critical source of error in human movement analysis. A comprehensive review of the state-of-the-art for assessment, minimization and compensation of the soft tissue artifact (STA) is provided. It has been shown that STA is greater than the instrumental error associated with stereophotogrammetry, has a frequency content similar to the actual bone movement, is task dependent and not reproducible among subjects and, of lower limb segments, is greatest at the thigh. It has been shown that in in vivo experiments only motion about the flexion/extension axis of the hip, knees and ankles can be determined reliably. Motion about other axes at those joints should be regarded with much more caution as this artifact produces spurious effects with magnitudes comparable to the amount of motion actually occurring in those joints. Techniques designed to minimize the contribution of and compensate for the effects of this artifact can be divided up into those which model the skin surface and those which include joint motion constraints. Despite the numerous solutions proposed, the objective of reliable estimation of 3D skeletal system kinematics using skin markers has not yet been satisfactorily achieved and greatly limits the contribution of human movement analysis to clinical practice and biomechanical research. For STA to be compensated for effectively, it is here suggested that either its subject-specific pattern is assessed by ad hoc exercises or it is characterized from a large series of measurements on different subject populations. Alternatively, inclusion of joint constraints into a more general STA minimization approach may provide an acceptable solution.
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                Author and article information

                Contributors
                Vittorio M.N. Passaro: Role: Academic Editor
                Journal
                Journal ID (nlm-ta): Sensors (Basel)
                Journal ID (iso-abbrev): Sensors (Basel)
                Journal ID (publisher-id): sensors
                Title: Sensors (Basel, Switzerland)
                Publisher: MDPI
                ISSN (Electronic): 1424-8220
                Publication date (Electronic): 31 July 2015
                Publication date Collection: August 2015
                Volume: 15
                Issue: 8
                Pages: 18813-18833
                Affiliations
                [1 ]Institut National de Recherche et de Sécurité (INRS), 54519 Vandoeuvre-lès-Nancy, France; E-Mails: laurent.claudon@ 123456inrs.fr (L.C.); adriana.savescu@ 123456inrs.fr (A.S.)
                [2 ]Université de Lyon, F-69622 Lyon, France; E-Mails: sonia.duprey@ 123456univ-lyon1.fr (S.D.); raphael.dumas@ 123456ifsttar.fr (R.D.)
                [3 ]Université Claude Bernard Lyon 1, Villeurbanne, France
                [4 ]IFSTTAR, UMR_T9406, LBMC Laboratoire de Biomécanique et Mécanique des Chocs, F69675 Bron, France
                Author notes
                [†]

                These authors contributed equally to this work.

                [* ]Author to whom correspondence should be addressed; E-Mail: bricebouvier.fr@ 123456gmail.com ; Tel.: +33-383-508-614.
                Article
                Publisher ID: sensors-15-18813
                DOI: 10.3390/s150818813
                PMC ID: 4570347
                PubMed ID: 26263993
                SO-VID: 47ebad7e-7567-4ae4-a798-c6527256f1c6
                Copyright © © 2015 by the authors; licensee MDPI, Basel, Switzerland.
                License:

                This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license ( http://creativecommons.org/licenses/by/4.0/).

                History
                Date received : 10 June 2015
                Date accepted : 14 July 2015
                Categories
                Subject: Article

                ScienceOpen disciplines: Biomedical engineering
                Keywords: sensor-to-segment calibration,ambulatory system,joint angle,magneto-inertial measurement unit sensors,accuracy
                Data availability:
                ScienceOpen disciplines: Biomedical engineering
                Keywords: sensor-to-segment calibration, ambulatory system, joint angle, magneto-inertial measurement unit sensors, accuracy

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