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Search Results (521)

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Keywords = gait generation

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17 pages, 3811 KiB  
Article
A Magnetoelectric Distance Estimation System for Relative Human Motion Tracking
by Johannes Hoffmann, Henrik Wolframm, Erik Engelhardt, Moritz Boueke, Tobias Schmidt, Julius Welzel, Michael Höft, Walter Maetzler and Gerhard Schmidt
Sensors 2025, 25(2), 495; https://doi.org/10.3390/s25020495 - 16 Jan 2025
Viewed by 231
Abstract
Clinical motion analysis plays an important role in the diagnosis and treatment of mobility-limiting diseases. Within this assessment, relative (point-to-point) tracking of extremities could benefit from increased accuracy. Given the limitations of current wearable sensor technology, supplementary spatial data such as distance estimates [...] Read more.
Clinical motion analysis plays an important role in the diagnosis and treatment of mobility-limiting diseases. Within this assessment, relative (point-to-point) tracking of extremities could benefit from increased accuracy. Given the limitations of current wearable sensor technology, supplementary spatial data such as distance estimates could provide added value. Therefore, we propose a distributed magnetic tracking system based on early-stage demonstrators of novel magnetoelectric (ME) sensors. The system consists of two body-worn magnetic actuators and four ME sensor arrays (body-worn and fixed). It is enabled by a comprehensive signal processing framework with sensor-specific signal enhancement and a gradient descent-based system calibration. As a pilot study, we evaluated the technical feasibility of the described system for motion tracking in general (Scenario A) and for operation during treadmill walking (Scenario B). At distances of up to 60 cm, we achieved a mean absolute distance error of 0.4 cm during gait experiments. Our results show that the modular system is capable of centimeter-level motion tracking of the lower extremities during treadmill walking and should therefore be investigated for clinical gait parameter assessment. Full article
(This article belongs to the Special Issue Smart Magnetic Sensors and Application)
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12 pages, 1172 KiB  
Systematic Review
The Effects of Yoga on Fall-Related Physical Functions for Older Women: A Systematic Review of Randomized Controlled Trials
by Tzu-Chun Huang, Ching Li and Ching-Yu Hsieh
Viewed by 397
Abstract
Introduction: The evidence showed that the risk of falls was higher in women, and yoga was considered an effective rehabilitation method for preventing falls. However, there had been no previous attempts to synthesize the evidence specifically for the use of yoga in preventing [...] Read more.
Introduction: The evidence showed that the risk of falls was higher in women, and yoga was considered an effective rehabilitation method for preventing falls. However, there had been no previous attempts to synthesize the evidence specifically for the use of yoga in preventing falls among older women. Objectives: This systematic review aimed to strengthen the existing body of evidence by focusing exclusively on the impact of yoga in improving fall-related physical functions among older women. Methods: A systematic review was conducted following the PRISMA guidelines. The protocol was developed in advance of the study and registered on PROSPERO (Registration number: CRD42024506550). Results: The effects of yoga on balance, gait, and lower-limb strength were inconsistent. It showed that yoga programs designed to prevent falls in older women might not demonstrate the same effectiveness as those identified in previous systematic reviews for the general older adult population. Conclusions: This systematic review is the first to exclusively explore the impact of yoga on fall-related physical functions in older women. However, this review did not directly observe a definitive effect of yoga on fall prevention in older women. Future studies should delve deeper into identifying appropriate yoga postures and determining the optimal dose required to enhance physical function and prevent falls. Full article
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21 pages, 3700 KiB  
Review
Biomechanics Parameters of Gait Analysis to Characterize Parkinson’s Disease: A Scoping Review
by Michela Russo, Marianna Amboni, Noemi Pisani, Antonio Volzone, Danilo Calderone, Paolo Barone, Francesco Amato, Carlo Ricciardi and Maria Romano
Sensors 2025, 25(2), 338; https://doi.org/10.3390/s25020338 - 9 Jan 2025
Viewed by 352
Abstract
Parkinson’s disease (PD) is characterized by a slow, short-stepping, shuffling gait pattern caused by a combination of motor control limitations due to a reduction in dopaminergic neurons. Gait disorders are indicators of global health, cognitive status, and risk of falls and increase with [...] Read more.
Parkinson’s disease (PD) is characterized by a slow, short-stepping, shuffling gait pattern caused by a combination of motor control limitations due to a reduction in dopaminergic neurons. Gait disorders are indicators of global health, cognitive status, and risk of falls and increase with disease progression. Therefore, the use of quantitative information on the gait mechanisms of PD patients is a promising approach, particularly for monitoring gait disorders and potentially informing therapeutic interventions, though it is not yet a well-established tool for early diagnosis or direct assessment of disease progression. Over the years, many studies have investigated the spatiotemporal parameters that are altered in the PD gait pattern, while kinematic and kinetic gait parameters are more limited. A scoping review was performed according to the PRISMA guidelines. The Scopus and PubMed databases were searched between 1999 and 2023. A total of 29 articles were included that reported gait changes in PD patients under different gait conditions: single free walking, sequential motor task, and dual task. The main findings of our review highlighted the use of optoelectronic systems for recording kinematic parameters and force plates for measuring kinetic parameters, due to their high accuracy. Most gait analyses in PD patients have been conducted at self-selected walking speeds to capture natural movement, although studies have also examined gait under various conditions. The results of our review indicated that PD patients experience alterations in the range of motion of the hip, knee, and ankle joints, as well as a reduction in the power generated/absorbed and the extensor/flexor moments. These findings suggest that the PD gait pattern may be more effectively understood using kinematic and kinetic parameters. Full article
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24 pages, 19716 KiB  
Article
Flexible Model Predictive Control for Bounded Gait Generation in Humanoid Robots
by Tianbo Yang, Yuchuang Tong and Zhengtao Zhang
Viewed by 398
Abstract
With advancements in bipedal locomotion for humanoid robots, a critical challenge lies in generating gaits that are bounded to ensure stable operation in complex environments. Traditional Model Predictive Control (MPC) methods based on Linear Inverted Pendulum (LIP) or Cart–Table (C-T) methods are straightforward [...] Read more.
With advancements in bipedal locomotion for humanoid robots, a critical challenge lies in generating gaits that are bounded to ensure stable operation in complex environments. Traditional Model Predictive Control (MPC) methods based on Linear Inverted Pendulum (LIP) or Cart–Table (C-T) methods are straightforward and linear but inadequate for robots with flexible joints and linkages. To overcome this limitation, we propose a Flexible MPC (FMPC) framework that incorporates joint dynamics modeling and emphasizes bounded gait control to enable humanoid robots to achieve stable motion in various conditions. The FMPC is based on an enhanced flexible C-T model as the motion model, featuring an elastic layer and an auxiliary second center of mass (CoM) to simulate joint systems. The flexible C-T model’s inversion derivation allows it to be effectively transformed into the predictive equation for the FMPC, therefore enriching its flexible dynamic behavior representation. We further use the Zero Moment Point (ZMP) velocity as a control variable and integrate multiple constraints that emphasize CoM constraint, embed explicit bounded constraint, and integrate ZMP constraint, therefore enabling the control of model flexibility and enhancement of stability. Since all the above constraints are shown to be linear in the control variables, a quadratic programming (QP) problem is established that guarantees that the CoM trajectory is bounded. Lastly, simulations validate the effectiveness of the proposed method, emphasizing its capacity to generate bounded CoM/ZMP trajectories across diverse conditions, underscoring its potential to enhance gait control. In addition, the validation of the simulation of real robot motion on the robots CASBOT and Openloong, in turn, demonstrates the effectiveness and robustness of our approach. Full article
(This article belongs to the Special Issue Design and Control of a Bio-Inspired Robot: 3rd Edition)
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21 pages, 4434 KiB  
Article
Exploring Gait Recognition in Wild Nighttime Scenes
by Haotian Li, Wenjuan Gong, Yutong Li, Yikai Wu, Kechen Li and Jordi Gonzàlez
Appl. Sci. 2025, 15(1), 350; https://doi.org/10.3390/app15010350 - 2 Jan 2025
Viewed by 407
Abstract
Currently, gait recognition research is gradually expanding from ideal indoor environments to real-world outdoor scenarios. However, recognition scenarios in practical applications are often more complex than those considered in existing studies. For instance, real-world scenarios present multiple influencing factors, such as viewpoint variations [...] Read more.
Currently, gait recognition research is gradually expanding from ideal indoor environments to real-world outdoor scenarios. However, recognition scenarios in practical applications are often more complex than those considered in existing studies. For instance, real-world scenarios present multiple influencing factors, such as viewpoint variations and diverse carried items. Notably, many gait recognition tasks occur under low-light conditions at night. At present, research on gait recognition in nocturnal environments is relatively limited, and effective methods for nighttime gait recognition are lacking. To address this gap, this study extends gait recognition research to outdoor nighttime environments and introduces the first wild gait dataset encompassing both daytime and nighttime data, named Gait Recognition of Day and Night (GaitDN). Furthermore, to tackle the challenges posed by low-light conditions and other influencing factors in outdoor nighttime gait recognition, we propose a novel pose-based gait recognition framework called GaitSAT. This framework models the intrinsic correlations of human joints by integrating self-attention and graph convolution modules. We conduct a comprehensive evaluation of the proposed method and existing approaches using both the GaitDN dataset and other available datasets. The proposed GaitSAT achieves state-of-the-art performance on the OUMVLP, GREW, Gait3D, and GaitDN datasets, with Rank-1 accuracies of 60.77%, 57.37%, 22.90%, and 86.24%, respectively. Experimental results demonstrate that GaitSAT achieves higher accuracy and superior generalization capabilities compared to state-of-the-art pose-based methods. Full article
(This article belongs to the Special Issue Multimodal Information-Assisted Visual Recognition or Generation)
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26 pages, 5753 KiB  
Article
Human-Inspired Gait and Jumping Motion Generation for Bipedal Robots Using Model Predictive Control
by Zhen Xu, Jianan Xie and Kenji Hashimoto
Viewed by 571
Abstract
In recent years, humanoid robot technology has been developing rapidly due to the need for robots to collaborate with humans or replace them in various tasks, requiring them to operate in complex human environments and placing high demands on their mobility. Developing humanoid [...] Read more.
In recent years, humanoid robot technology has been developing rapidly due to the need for robots to collaborate with humans or replace them in various tasks, requiring them to operate in complex human environments and placing high demands on their mobility. Developing humanoid robots with human-like walking and hopping abilities has become a key research focus, as these capabilities enable robots to move and perform tasks more efficiently in diverse and unpredictable environments, with significant applications in daily life, industrial operations, and disaster rescue. Currently, methods based on hybrid zero dynamics and reinforcement learning have been employed to enhance the walking and hopping capabilities of humanoid robots; however, model predictive control (MPC) presents two significant advantages: it can adapt to more complex task requirements and environmental conditions, and it allows for various walking and hopping patterns without extensive training and redesign. The objective of this study is to develop a bipedal robot controller using shooting method-based MPC to achieve human-like walking and hopping abilities, aiming to address the limitations of the existing methods and provide a new approach to enhancing robot mobility. Full article
(This article belongs to the Section Locomotion and Bioinspired Robotics)
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25 pages, 7189 KiB  
Article
Design Optimization of the Mechanics of a Metamaterial-Based Prosthetic Foot
by Agata Mrozek-Czajkowska and Tomasz Stręk
Materials 2025, 18(1), 96; https://doi.org/10.3390/ma18010096 - 29 Dec 2024
Viewed by 463
Abstract
This paper is dedicated to the analysis of a foot prosthesis optimization process, with a particular focus on the application of optimization algorithms and unconventional materials, such as auxetic materials. The study aims to enhance prosthesis performance by minimizing the difference between the [...] Read more.
This paper is dedicated to the analysis of a foot prosthesis optimization process, with a particular focus on the application of optimization algorithms and unconventional materials, such as auxetic materials. The study aims to enhance prosthesis performance by minimizing the difference between the ground reaction force generated by the prosthetic foot and that of a natural limb. In the initial part of the study, the basic topics concerning the parameterization of the foot prosthesis geometry and the preparation of a finite element model for human gait are discussed. In the subsequent part of the study, the focus is on the optimization process, in which algorithms were applied to adjust the prosthesis structure to the patient’s individual needs. The optimization process utilized a finite element method gait model. After validating the FEM, an algorithm generating the prosthesis geometry based on the given parameters was developed. These parameters were optimized using the VOA, comparing FEM gait model data on vertical ground reaction force with experimental results. The results of the foot prosthesis optimization are presented through a comparison of different structural models. The study also demonstrates the application of auxetic materials, which, due to their unique mechanical properties, can enhance foot prosthesis efficiency. Simulations were performed using multi-material topology optimization. The results obtained for different gait phases were compared. Full article
(This article belongs to the Special Issue Modelling of Deformation Characteristics of Materials or Structures)
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20 pages, 8064 KiB  
Article
Vibration Serviceability Assessment of Floor Structures: Simulation of Human–Structure–Environment Interactions Using Agent-Based Modeling
by Erfan Shahabpoor, Bernard Berari and Aleksandar Pavic
Sensors 2025, 25(1), 126; https://doi.org/10.3390/s25010126 - 28 Dec 2024
Viewed by 446
Abstract
A rapidly growing body of experimental evidence in the literature shows that the effects of humans interacting with vibrating structures, other humans, and their surrounding environment can be critical for reliable estimation of structural vibrations. The Interaction-based Vibration Serviceability Assessment framework (I-VSA) was [...] Read more.
A rapidly growing body of experimental evidence in the literature shows that the effects of humans interacting with vibrating structures, other humans, and their surrounding environment can be critical for reliable estimation of structural vibrations. The Interaction-based Vibration Serviceability Assessment framework (I-VSA) was proposed by the authors in 2017 to address this, taking into account human-structure dynamic interactions (HSI) to simulate the structural vibrations experienced by each occupant/pedestrian. The I-VSA method, however, had limited provisions to simulate simultaneously multiple modes of structure in HSI, to simulate human-human and human-environment interactions, and the movement pattern of the occupants/pedestrians. This study proposes a new Agent-based Vibration Serviceability Assessment framework, termed AVSA, to address the following limitations: (a) allowing for multiple modes of structure to be simulated simultaneously, (b) to simulate effects of vibrations on gait parameters and walking pattern/routes, and (c) to simulate human-environment interactions, and movement patterns for any desired interior layout and use case. The AVSA framework was used to simulate the response and to assess the vibration serviceability of a lightweight floor under a combination of sitting and walking traffic, where three vertical modes of vibrations were engaged simultaneously. The results of the simulations show that for all tests, the experimental Cumulative Distribution Functions of the vibrations experienced by the participants are within the 95% confidence interval predicted by the AVSA method. The proposed method provides a generic and flexible framework to simulate simultaneously different interaction modalities, different human tasks and postures, and multiple modes of structure and the human body. Full article
(This article belongs to the Section Physical Sensors)
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23 pages, 7699 KiB  
Article
Multi-Modal Compliant Quadruped Robot Based on CPG Control Network
by Yumo Wang, Hong Ying, Xiang Li, Shuai Yu and Jiajun Xu
Electronics 2024, 13(24), 5015; https://doi.org/10.3390/electronics13245015 - 20 Dec 2024
Viewed by 446
Abstract
Quadruped robots, with their biomimetic structure, are capable of stable locomotion in complex terrains and are vital in rescue, exploration, and military applications. However, developing multi-modal robots that feature simple motion control while adapting to diverse amphibious environments remains a significant challenge. These [...] Read more.
Quadruped robots, with their biomimetic structure, are capable of stable locomotion in complex terrains and are vital in rescue, exploration, and military applications. However, developing multi-modal robots that feature simple motion control while adapting to diverse amphibious environments remains a significant challenge. These robots need to excel at obstacle-crossing, waterproofing, and maintaining stability across various locomotion modes. To address these challenges, this paper introduces a novel leg–fin integrated propulsion mechanism for a bionic quadruped robot, utilizing rapidly advancing soft materials and integrated molding technologies. The robot’s motion is modeled and decomposed using an improved central pattern generator (CPG) control network. By leveraging the control characteristics of the CPG model, global control of the single-degree-of-freedom drive mechanism is achieved, allowing smooth transitions between different motion modes. The design is verified through simulations conducted in the Webots environment. Finally, a physical prototype of the quadruped compliant robot is constructed, and experiments are carried out to test its walking, turning, and obstacle-crossing abilities in various environments. The experimental results demonstrate that the robot shows a significant speed advantage in regions where land and water meet, reaching a maximum speed of 1.03 body lengths per second (bl/s). Full article
(This article belongs to the Section Systems & Control Engineering)
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38 pages, 3841 KiB  
Review
Computer Vision-Based Gait Recognition on the Edge: A Survey on Feature Representations, Models, and Architectures
by Edwin Salcedo
J. Imaging 2024, 10(12), 326; https://doi.org/10.3390/jimaging10120326 - 18 Dec 2024
Viewed by 822
Abstract
Computer vision-based gait recognition (CVGR) is a technology that has gained considerable attention in recent years due to its non-invasive, unobtrusive, and difficult-to-conceal nature. Beyond its applications in biometrics, CVGR holds significant potential for healthcare and human–computer interaction. Current CVGR systems often transmit [...] Read more.
Computer vision-based gait recognition (CVGR) is a technology that has gained considerable attention in recent years due to its non-invasive, unobtrusive, and difficult-to-conceal nature. Beyond its applications in biometrics, CVGR holds significant potential for healthcare and human–computer interaction. Current CVGR systems often transmit collected data to a cloud server for machine learning-based gait pattern recognition. While effective, this cloud-centric approach can result in increased system response times. Alternatively, the emerging paradigm of edge computing, which involves moving computational processes to local devices, offers the potential to reduce latency, enable real-time surveillance, and eliminate reliance on internet connectivity. Furthermore, recent advancements in low-cost, compact microcomputers capable of handling complex inference tasks (e.g., Jetson Nano Orin, Jetson Xavier NX, and Khadas VIM4) have created exciting opportunities for deploying CVGR systems at the edge. This paper reports the state of the art in gait data acquisition modalities, feature representations, models, and architectures for CVGR systems suitable for edge computing. Additionally, this paper addresses the general limitations and highlights new avenues for future research in the promising intersection of CVGR and edge computing. Full article
(This article belongs to the Special Issue Image Processing and Computer Vision: Algorithms and Applications)
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16 pages, 2606 KiB  
Article
Effectiveness of a New Microprocessor-Controlled Knee–Ankle–Foot System for Transfemoral Amputees: A Randomized Controlled Trial
by Christelle Requena, Joseph Bascou, Isabelle Loiret, Xavier Bonnet, Marie Thomas-Pohl, Clément Duraffourg, Laurine Calistri and Hélène Pillet
Prosthesis 2024, 6(6), 1591-1606; https://doi.org/10.3390/prosthesis6060115 - 18 Dec 2024
Viewed by 599
Abstract
Background: Advances in prosthetic technology, especially microprocessor-controlled knees (MPKs), have helped enhance gait symmetry and reduce fall risks for individuals who have undergone transfemoral amputation. However, challenges remain in walking in constrained situations due to the limitations of passive prosthetic feet, lacking ankle [...] Read more.
Background: Advances in prosthetic technology, especially microprocessor-controlled knees (MPKs), have helped enhance gait symmetry and reduce fall risks for individuals who have undergone transfemoral amputation. However, challenges remain in walking in constrained situations due to the limitations of passive prosthetic feet, lacking ankle mobility. This study investigates the benefits of SYNSYS®, a new microprocessor-controlled knee–ankle–foot system (MPKA_NEW), designed to synergize knee and ankle movements. Methods: A randomized crossover trial was conducted on 12 male participants who had undergone transfemoral amputation who tested both the MPKA_NEW and their usual MPK prosthesis. Biomechanical parameters were evaluated using quantitative gait analysis in various walking conditions. Participants also completed self-reported questionnaires on their quality of life, locomotor abilities, and prosthesis satisfaction. Results: The MPKA_NEW showed a significant reduction in the risk of slipping and tripping compared to standard MPK prostheses, as evidenced by increased flat-foot time and minimum toe clearance during gait analysis. The MPKA_NEW also improved physical component scores in quality-of-life assessments (Short-Form 36 General Health Questionnaire), suggesting enhanced stability and reduced cognitive load during walking. Conclusions: The MPKA_NEW offers significant improvements in gait safety and quality of life for people who have undergone TFA, particularly in challenging conditions. Further studies are needed to assess the long-term benefits and adaptability across diverse amputee populations. Full article
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21 pages, 19119 KiB  
Article
Caterpillar-Inspired Multi-Gait Generation Method for Series-Parallel Hybrid Segmented Robot
by Mingyuan Dou, Ning He, Jianhua Yang, Lile He, Jiaxuan Chen and Yaojiumin Zhang
Biomimetics 2024, 9(12), 754; https://doi.org/10.3390/biomimetics9120754 - 11 Dec 2024
Viewed by 634
Abstract
The body structures and motion stability of worm-like and snake-like robots have garnered significant research interest. Recently, innovative serial–parallel hybrid segmented robots have emerged as a fundamental platform for a wide range of motion modes. To address the hyper-redundancy characteristics of these hybrid [...] Read more.
The body structures and motion stability of worm-like and snake-like robots have garnered significant research interest. Recently, innovative serial–parallel hybrid segmented robots have emerged as a fundamental platform for a wide range of motion modes. To address the hyper-redundancy characteristics of these hybrid structures, we propose a novel caterpillar-inspired Stable Segment Update (SSU) gait generation approach, establishing a unified framework for multi-segment robot gait generation. Drawing inspiration from the locomotion of natural caterpillars, the segments are modeled as rigid bodies with six degrees of freedom (DOF). The SSU gait generation method is specifically designed to parameterize caterpillar-like gaits. An inverse kinematics solution is derived by analyzing the forward kinematics and identifying the minimum lifting segment, framing the problem as a single-segment end-effector tracking task. Three distinct parameter sets are introduced within the SSU method to account for the stability of robot motion. These parameters, represented as discrete hump waves, are intended to improve motion efficiency during locomotion. Furthermore, the trajectories for each swinging segment are determined through kinematic analysis. Experimental results validate the effectiveness of the proposed SSU multi-gait generation method, demonstrating the successful traversal of gaps and rough terrain. Full article
(This article belongs to the Section Locomotion and Bioinspired Robotics)
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16 pages, 4154 KiB  
Article
Youth Soccer Heading Exposure and Its Effects on Clinical Outcome Measures
by Victoria E. Wahlquist, Thomas A. Buckley, Jaclyn B. Caccese, Joseph J. Glutting, Todd D. Royer and Thomas W. Kaminski
Sports 2024, 12(12), 342; https://doi.org/10.3390/sports12120342 - 10 Dec 2024
Viewed by 594
Abstract
Purposeful heading, in which players may use their heads to advance the ball in play, is a unique part of soccer. Clinical outcome measures used to aid in the diagnosis of a concussion have long been a cornerstone of the contemporary measurements associated [...] Read more.
Purposeful heading, in which players may use their heads to advance the ball in play, is a unique part of soccer. Clinical outcome measures used to aid in the diagnosis of a concussion have long been a cornerstone of the contemporary measurements associated with the short- and long-term effects of monitoring repetitive head impacts (RHI) and soccer heading exposure. The effects of RHI in the youth population are still unknown, therefore, the purpose of this study was to examine if heading exposure is predictive of changes in self-reported symptoms, neurocognitive functioning, gait, and balance in female youth soccer players over the course of one soccer season. Small improvements in neurocognitive functioning and gait and slight deficits in balance were observed from pre- to post-season. All changes were not clinically relevant and likely due to a practice effect. The low heading exposure in our cohort of youth soccer players was likely not enough to elicit any changes in clinical measures. In general, our clinical outcomes did not change after a season of soccer play and change scores were not predicted by heading exposure. Full article
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11 pages, 1202 KiB  
Article
The Interplay Between Muscular Activity and Pattern Recognition of Electro-Stimulated Haptic Cues During Normal Walking: A Pilot Study
by Yoosun Kim, Sejun Park, Seungtae Yang, Alireza Nasirzadeh and Giuk Lee
Bioengineering 2024, 11(12), 1248; https://doi.org/10.3390/bioengineering11121248 - 9 Dec 2024
Viewed by 710
Abstract
This pilot study explored how muscle activation influences the pattern recognition of tactile cues delivered using electrical stimulation (ES) during each 10% window interval of the normal walking gait cycle (GC). Three healthy adults participated in the experiment. After identifying the appropriate threshold, [...] Read more.
This pilot study explored how muscle activation influences the pattern recognition of tactile cues delivered using electrical stimulation (ES) during each 10% window interval of the normal walking gait cycle (GC). Three healthy adults participated in the experiment. After identifying the appropriate threshold, ES as the haptic cue was applied to the gastrocnemius lateralis (GL) and biceps brachii (BB) of participants walking on a treadmill. Findings revealed variable recognition patterns across participants, with the BB showing more variability during walking due to its minimal activity compared to the actively engaged GL. Dynamic time warping (DTW) was used to assess the similarity between muscle activation and electro-stimulated haptic perception. The DTW distance between electromyography (EMG) signals and muscle recognition patterns was significantly smaller for the GL (4.87 ± 0.21, mean ± SD) than the BB (8.65 ± 1.36, mean ± SD), showing a 78.6% relative difference, indicating that higher muscle activation was generally associated with more consistent haptic perception. However, individual differences and variations in recognition patterns were observed, suggesting personal variability influenced the perception outcomes. The study underscores the complexity of human neuromuscular responses to artificial sensory stimuli and suggests a potential link between muscle activity and haptic perception. Full article
(This article belongs to the Special Issue Robotic Assisted Rehabilitation and Therapy)
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13 pages, 3585 KiB  
Article
How Does Induced Deceleration of One Treadmill’s Belt in the Pre-Swing Gait Phase Change Gait Pattern?
by Katarzyna Chodkowska, Michalina Błażkiewicz, Justyna Kędziorek, Dorota Ortenburger and Jacek Wąsik
Appl. Sci. 2024, 14(23), 11456; https://doi.org/10.3390/app142311456 - 9 Dec 2024
Viewed by 635
Abstract
This study aimed to investigate how external perturbations caused by the treadmill belt’s deceleration during the pre-swing phase affect gait kinematics and kinetics in young adults. Twenty-one healthy young females walked on a treadmill in a virtual environment (GRAIL, Motek), where unexpected perturbations [...] Read more.
This study aimed to investigate how external perturbations caused by the treadmill belt’s deceleration during the pre-swing phase affect gait kinematics and kinetics in young adults. Twenty-one healthy young females walked on a treadmill in a virtual environment (GRAIL, Motek), where unexpected perturbations were applied to the left belt, mimicking a ‘trip-like’ effect at toe-off. The spatiotemporal, kinematic, and kinetic parameters were analyzed during two cycles. The first cycle involved the first perturbation and the response to it. The second included a gait cycle without the perturbation (treadmill gait). The perturbation resulted in an increased stride duration for both limbs when compared to the treadmill gait. The perturbed limb had a longer support phase, while the reactive limb had the longest double stance phase. The responding limb exhibited more than double the ankle plantarflexion compared to the normal treadmill gait and the perturbed limb. At the hip joint, both limbs showed significantly higher values, with a 40.8% increase in flexion and a 227% increase in extension for the perturbed limb, and a 24.5% increase in flexion and a 212% increase in extension for the responding limb, compared to the treadmill gait. Muscle torque was generally lower in most joints for both limbs, except for notably higher hip and knee extensor values for the perturbed limb. The responding limb exhibited lower values for the ankle, knee, and hip joints, indicating unexpected muscle activity patterns. Studying treadmill belt deceleration during pre-swing gait can provide valuable insights into biomechanical adaptations and motor control strategies. Full article
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