2018 IEEE International Conference on Industrial Technology (ICIT), 2018
Human motion is an important issue in various medical analyses. In this paper, the application of... more Human motion is an important issue in various medical analyses. In this paper, the application of interest is estimating the orientation of the wrist in indoor and outdoor activities using low cost Inertial Measurement Sensor IMU. We present an orientation estimation using Kalman Filter based on Correntropy Criterion (KFCC). The proposed method uses only the acceleration data in the aim to reduce the computing load with accurate orientation estimation. Optical measurement system has been used to benchmark the performance of the proposed method. Moreover, the KFCC is evaluated in indoor and outdoor activities with static and dynamic motion conditions. The proposed method proves its efficiency and reliability against existing methods.
2018 4th International Conference on Advanced Technologies for Signal and Image Processing (ATSIP), 2018
Using a low cost Inertial Measurement Sensor (IMU) to estimate an accurate orientation of human b... more Using a low cost Inertial Measurement Sensor (IMU) to estimate an accurate orientation of human body is a challenging work. Several approaches has been proposed to minimize the sensor error as the Particle filter (PF) which has gain a popularity with nonlinear and non-gaussian noise system models. In the case of orientation estimation and positioning the PF has been employed in the frame of hybridization with other measurement systems such as visual systems, radio-localisation, GPS etc. In this study, we propose to use only the data obtained from inertial sensor, with a constrained PF. The Iterative Mean Density Truncation algorithm (IMeDeT) has been employed with a quaternion algorithm based on acceleration and magnetic field. An improvement in term of accuracy has been clearly detected as well as the filter convergence, against the Extended Kalman Filer (EKF)and an optical measurement system.
AMISIA a multidisciplinary, 36 months Defi CNRS AUTON project, aimed at the secondary prevention ... more AMISIA a multidisciplinary, 36 months Defi CNRS AUTON project, aimed at the secondary prevention of the loss of autonomy for patients with traumatic brain injury and stroke. As “any patient is a unique case,” AMISIA proposes an integrated approach, mixing medical health devices, information technology, and human factors to provide patients, health care actors and caregivers from the relatives both the best incentives and high degree of monitoring. This first step aims to define a methodology to determine the indicators necessary to promote physical activity in traumatic brain injury and stroke patient. In line with the primary aim, we conducted a data collection experiment in Limoges with 61 volunteer participants. Data were biographic elements, socio - econo mic profiles, cognitive performance (Corsi test results), psychological battery (anxiety, fatigue, sleep), posture and gait measurement with 4 Imus and a Wii - balance board, and finally the physical activity over a week at hom...
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Over the last decades a variety of research has been conducted with the goal to improve the Body ... more Over the last decades a variety of research has been conducted with the goal to improve the Body Segment Inertial Parameters (BSIP) estimations but to our knowledge a real validation has never been completely successful, because no ground truth is available. The aim of this paper is to propose a validation method for a BSIP identification method (IM) and to confirm the results by comparing them with recalculated contact forces using inverse dynamics to those obtained by a force plate. Furthermore, the results are compared with the recently proposed estimation method by Dumas et al. (2007). Additionally, the results are cross validated with a high velocity overarm throwing movement. Throughout conditions higher correlations, smaller metrics and smaller RMSE can be found for the proposed BSIP estimation (IM) which shows its advantage compared to recently proposed methods as of Dumas et al. (2007). The purpose of the paper is to validate an already proposed method and to show that this method can be of significant advantage compared to conventional methods.
ABSTRACT Due to motor deficiencies inducing low force capabilities or tremor, many persons have g... more ABSTRACT Due to motor deficiencies inducing low force capabilities or tremor, many persons have great difficulties to use joystick-operated wheelchairs. To alleviate such difficulties, alternative interfaces using vocal, gaze, or brain signals are now becoming available. While promising, these systems still need to be evaluated thoroughly. In this framework, the aims of this study are to analyze and evaluate the behavior of 11 able-bodied subjects during a navigation task executed with gaze or joystick-operated electric wheelchair involving a door crossing. An electric wheelchair was equipped with retroreflective markers, and their movements were recorded with an optoelectronic system. The gaze commands were detected using an eye tracking device. Apart from classical, forward, backward, stop, left and right commands, the chosen screen-based interface integrated forward-right and forward-left commands. The global success rate with the gaze-based control was 80.3%. The path optimally ratio was 0.97 and the subject adopted similar trajectories with both systems. The results for gaze control are promising and highlight the important utilization of the forward-left and forward-right commands (25% of all issued commands) that may explain the similarity between the trajectories using both interfaces.
In order to improve the evaluation of the force feasible set (FFS) of the upper-limb which is of ... more In order to improve the evaluation of the force feasible set (FFS) of the upper-limb which is of great interest in the biomechanics field, this study proposes two additional techniques. The first one is based on the identification of the maximal isometric force (MIF) of Hill-based muscles models from sEMG and isometric force measurements at the hand. The second one considers muscles cocontraction. The FFS was computed with an upper-limb musculoskeletal model in three different cases. The first one (M1) considered binary muscular activation and a simple MIF scaling method based on the weight and muscle length of the subject. The second one (M2) introduces cocontraction factors determined from sEMG. The third one (M3) considers the cocontraction factors and the MIF identification. Finally, M1, M2 and M3 are compared with end-effector force measurement. M3 outperforms the two other methods on FFS prediction demonstrating the validity and the usefulness of MIF identification and the con...
By proposing efficient methods for estimating Body Segment Inertial Parameters' (BSIP) estima... more By proposing efficient methods for estimating Body Segment Inertial Parameters' (BSIP) estimation and validating them with a force plate, it is possible to improve the inverse dynamic computations that are necessary in multiple research areas. Until today a variety of studies have been conducted to improve BSIP estimation but to our knowledge a real validation has never been completely successful. In this paper, we propose a validation method using both kinematic and kinetic parameters (contact forces) gathered from optical motion capture system and a force plate respectively. To compare BSIPs, we used the measured contact forces (Force plate) as the ground truth, and reconstructed the displacements of the Center of Pressure (COP) using inverse dynamics from two different estimation techniques. Only minor differences were seen when comparing the estimated segment masses. Their influence on the COP computation however is large and the results show very distinguishable patterns of...
We examined if experts and novices show different utilization of the torque components impulses d... more We examined if experts and novices show different utilization of the torque components impulses during dart throwing. Participants threw darts continuously at a dartboard aiming for the centre (target bull's eye). The upper-limb joint torque impulses were obtained through inverse dynamics with anthropometric and motion capture data as input. Depending on the joint degree of freedom (DOF) and movement phase (acceleration and follow-through), three main strategies of net torque (NET) impulse generation through joint muscle (MUS) and interaction (INT) torque impulses were highlighted. Firstly, our results showed that the elbow flexion-extension DOF leads the movement according to the joint leading hypothesis. Then, considering the acceleration phase, the analysis revealed differences in torque impulse decomposition between expert and novices. For the glenohumeral (GH) joint abduction-adduction and for wrist flexion, the INT torque impulse contributed positively to NET joint torque ...
The purpose of this study was to evaluate the role of rotation axes during a tennis serve. A moti... more The purpose of this study was to evaluate the role of rotation axes during a tennis serve. A motion capture system was used to evaluate the contribution of the potential axes of rotation (minimum inertia axis, shoulder-centre of mass axis and the shoulder-elbow axis) during the four discrete tennis serve phases (loading, cocking, acceleration and follow through). Ten ranked athletes (International Tennis Number 1-3) repeatedly performed a flat service aiming at a target on the other side of the net. The four serve phases are distinct and thus, each movement phase seems to be organised around specific rotation axes. The results showed that the limbs' rotational axis does not necessarily coincide with the minimum inertia axis across the cocking phase of the tennis serve. Even though individual serving strategies were exposed, all participants showed an effect due to the cocking phase and changed the rotation axis during the task. Taken together, the results showed that despite int...
For the dominant limb, a velocity-dependent change in rotational axes during the kinesthetic cont... more For the dominant limb, a velocity-dependent change in rotational axes during the kinesthetic control of unconstrained 3D arm rotations was reported, and thus the question arises if this can be reproduced for the nondominant arm. The rotation axes considered are the axes of minimum inertia (e3), the shoulder–center of mass axis (SH-CM), and the shoulder–elbow axis (SH-EL). The objective of this study was to examine whether the minimum inertia axis would constrain internal–external rotations of the shoulder at fast velocity. Participants performed cyclic rotations of their arms in 2 sensory conditions and at 2 velocities. The elbow configurations were either set to 90° or 140° to yield a constant separation between e3, SH-CM, and SH-EL. Our results showed that the limb’s rotational axis coincide with the SH-EL axis across velocity conditions, although higher variability was seen at higher velocity. This was true for both the dominant and the nondominant arm. Together, the results show...
2018 IEEE International Conference on Industrial Technology (ICIT), 2018
Human motion is an important issue in various medical analyses. In this paper, the application of... more Human motion is an important issue in various medical analyses. In this paper, the application of interest is estimating the orientation of the wrist in indoor and outdoor activities using low cost Inertial Measurement Sensor IMU. We present an orientation estimation using Kalman Filter based on Correntropy Criterion (KFCC). The proposed method uses only the acceleration data in the aim to reduce the computing load with accurate orientation estimation. Optical measurement system has been used to benchmark the performance of the proposed method. Moreover, the KFCC is evaluated in indoor and outdoor activities with static and dynamic motion conditions. The proposed method proves its efficiency and reliability against existing methods.
2018 4th International Conference on Advanced Technologies for Signal and Image Processing (ATSIP), 2018
Using a low cost Inertial Measurement Sensor (IMU) to estimate an accurate orientation of human b... more Using a low cost Inertial Measurement Sensor (IMU) to estimate an accurate orientation of human body is a challenging work. Several approaches has been proposed to minimize the sensor error as the Particle filter (PF) which has gain a popularity with nonlinear and non-gaussian noise system models. In the case of orientation estimation and positioning the PF has been employed in the frame of hybridization with other measurement systems such as visual systems, radio-localisation, GPS etc. In this study, we propose to use only the data obtained from inertial sensor, with a constrained PF. The Iterative Mean Density Truncation algorithm (IMeDeT) has been employed with a quaternion algorithm based on acceleration and magnetic field. An improvement in term of accuracy has been clearly detected as well as the filter convergence, against the Extended Kalman Filer (EKF)and an optical measurement system.
AMISIA a multidisciplinary, 36 months Defi CNRS AUTON project, aimed at the secondary prevention ... more AMISIA a multidisciplinary, 36 months Defi CNRS AUTON project, aimed at the secondary prevention of the loss of autonomy for patients with traumatic brain injury and stroke. As “any patient is a unique case,” AMISIA proposes an integrated approach, mixing medical health devices, information technology, and human factors to provide patients, health care actors and caregivers from the relatives both the best incentives and high degree of monitoring. This first step aims to define a methodology to determine the indicators necessary to promote physical activity in traumatic brain injury and stroke patient. In line with the primary aim, we conducted a data collection experiment in Limoges with 61 volunteer participants. Data were biographic elements, socio - econo mic profiles, cognitive performance (Corsi test results), psychological battery (anxiety, fatigue, sleep), posture and gait measurement with 4 Imus and a Wii - balance board, and finally the physical activity over a week at hom...
HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Over the last decades a variety of research has been conducted with the goal to improve the Body ... more Over the last decades a variety of research has been conducted with the goal to improve the Body Segment Inertial Parameters (BSIP) estimations but to our knowledge a real validation has never been completely successful, because no ground truth is available. The aim of this paper is to propose a validation method for a BSIP identification method (IM) and to confirm the results by comparing them with recalculated contact forces using inverse dynamics to those obtained by a force plate. Furthermore, the results are compared with the recently proposed estimation method by Dumas et al. (2007). Additionally, the results are cross validated with a high velocity overarm throwing movement. Throughout conditions higher correlations, smaller metrics and smaller RMSE can be found for the proposed BSIP estimation (IM) which shows its advantage compared to recently proposed methods as of Dumas et al. (2007). The purpose of the paper is to validate an already proposed method and to show that this method can be of significant advantage compared to conventional methods.
ABSTRACT Due to motor deficiencies inducing low force capabilities or tremor, many persons have g... more ABSTRACT Due to motor deficiencies inducing low force capabilities or tremor, many persons have great difficulties to use joystick-operated wheelchairs. To alleviate such difficulties, alternative interfaces using vocal, gaze, or brain signals are now becoming available. While promising, these systems still need to be evaluated thoroughly. In this framework, the aims of this study are to analyze and evaluate the behavior of 11 able-bodied subjects during a navigation task executed with gaze or joystick-operated electric wheelchair involving a door crossing. An electric wheelchair was equipped with retroreflective markers, and their movements were recorded with an optoelectronic system. The gaze commands were detected using an eye tracking device. Apart from classical, forward, backward, stop, left and right commands, the chosen screen-based interface integrated forward-right and forward-left commands. The global success rate with the gaze-based control was 80.3%. The path optimally ratio was 0.97 and the subject adopted similar trajectories with both systems. The results for gaze control are promising and highlight the important utilization of the forward-left and forward-right commands (25% of all issued commands) that may explain the similarity between the trajectories using both interfaces.
In order to improve the evaluation of the force feasible set (FFS) of the upper-limb which is of ... more In order to improve the evaluation of the force feasible set (FFS) of the upper-limb which is of great interest in the biomechanics field, this study proposes two additional techniques. The first one is based on the identification of the maximal isometric force (MIF) of Hill-based muscles models from sEMG and isometric force measurements at the hand. The second one considers muscles cocontraction. The FFS was computed with an upper-limb musculoskeletal model in three different cases. The first one (M1) considered binary muscular activation and a simple MIF scaling method based on the weight and muscle length of the subject. The second one (M2) introduces cocontraction factors determined from sEMG. The third one (M3) considers the cocontraction factors and the MIF identification. Finally, M1, M2 and M3 are compared with end-effector force measurement. M3 outperforms the two other methods on FFS prediction demonstrating the validity and the usefulness of MIF identification and the con...
By proposing efficient methods for estimating Body Segment Inertial Parameters' (BSIP) estima... more By proposing efficient methods for estimating Body Segment Inertial Parameters' (BSIP) estimation and validating them with a force plate, it is possible to improve the inverse dynamic computations that are necessary in multiple research areas. Until today a variety of studies have been conducted to improve BSIP estimation but to our knowledge a real validation has never been completely successful. In this paper, we propose a validation method using both kinematic and kinetic parameters (contact forces) gathered from optical motion capture system and a force plate respectively. To compare BSIPs, we used the measured contact forces (Force plate) as the ground truth, and reconstructed the displacements of the Center of Pressure (COP) using inverse dynamics from two different estimation techniques. Only minor differences were seen when comparing the estimated segment masses. Their influence on the COP computation however is large and the results show very distinguishable patterns of...
We examined if experts and novices show different utilization of the torque components impulses d... more We examined if experts and novices show different utilization of the torque components impulses during dart throwing. Participants threw darts continuously at a dartboard aiming for the centre (target bull's eye). The upper-limb joint torque impulses were obtained through inverse dynamics with anthropometric and motion capture data as input. Depending on the joint degree of freedom (DOF) and movement phase (acceleration and follow-through), three main strategies of net torque (NET) impulse generation through joint muscle (MUS) and interaction (INT) torque impulses were highlighted. Firstly, our results showed that the elbow flexion-extension DOF leads the movement according to the joint leading hypothesis. Then, considering the acceleration phase, the analysis revealed differences in torque impulse decomposition between expert and novices. For the glenohumeral (GH) joint abduction-adduction and for wrist flexion, the INT torque impulse contributed positively to NET joint torque ...
The purpose of this study was to evaluate the role of rotation axes during a tennis serve. A moti... more The purpose of this study was to evaluate the role of rotation axes during a tennis serve. A motion capture system was used to evaluate the contribution of the potential axes of rotation (minimum inertia axis, shoulder-centre of mass axis and the shoulder-elbow axis) during the four discrete tennis serve phases (loading, cocking, acceleration and follow through). Ten ranked athletes (International Tennis Number 1-3) repeatedly performed a flat service aiming at a target on the other side of the net. The four serve phases are distinct and thus, each movement phase seems to be organised around specific rotation axes. The results showed that the limbs' rotational axis does not necessarily coincide with the minimum inertia axis across the cocking phase of the tennis serve. Even though individual serving strategies were exposed, all participants showed an effect due to the cocking phase and changed the rotation axis during the task. Taken together, the results showed that despite int...
For the dominant limb, a velocity-dependent change in rotational axes during the kinesthetic cont... more For the dominant limb, a velocity-dependent change in rotational axes during the kinesthetic control of unconstrained 3D arm rotations was reported, and thus the question arises if this can be reproduced for the nondominant arm. The rotation axes considered are the axes of minimum inertia (e3), the shoulder–center of mass axis (SH-CM), and the shoulder–elbow axis (SH-EL). The objective of this study was to examine whether the minimum inertia axis would constrain internal–external rotations of the shoulder at fast velocity. Participants performed cyclic rotations of their arms in 2 sensory conditions and at 2 velocities. The elbow configurations were either set to 90° or 140° to yield a constant separation between e3, SH-CM, and SH-EL. Our results showed that the limb’s rotational axis coincide with the SH-EL axis across velocity conditions, although higher variability was seen at higher velocity. This was true for both the dominant and the nondominant arm. Together, the results show...
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